2015-10-15 11:03:40 -07:00
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2015 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <unistd.h>
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#include <iostream>
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#include <signal.h>
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2016-04-25 14:27:51 -07:00
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#include "urm37.hpp"
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2015-10-15 11:03:40 -07:00
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using namespace std;
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bool shouldRun = true;
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void sig_handler(int signo)
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{
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if (signo == SIGINT)
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shouldRun = false;
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}
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int main()
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{
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signal(SIGINT, sig_handler);
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//! [Interesting]
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// Instantiate a URM37 sensor on analog pin A0, reset pin on D2,
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// trigger pin on D3 with an analog reference voltage of 5.0
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upm::URM37 *sensor = new upm::URM37(0, 2, 3, 5.0);
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// Every half a second, sample the URM37 and output the measured
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// distance in cm.
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while (shouldRun)
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{
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cout << "Detected distance (cm): " << sensor->getDistance() << endl;
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usleep(500000);
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}
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//! [Interesting]
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cout << "Exiting" << endl;
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delete sensor;
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return 0;
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}
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