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80 lines
2.4 KiB
C++
80 lines
2.4 KiB
C++
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2014 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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#include "enc03r.h"
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using namespace std;
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bool shouldRun = true;
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// analog voltage, usually 3.3 or 5.0
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#define CALIBRATION_SAMPLES 1000
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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 ENC03R on analog pin A0
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upm::ENC03R *gyro = new upm::ENC03R(0);
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// The first thing we need to do is calibrate the sensor.
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cout << "Please place the sensor in a stable location, and do not" << endl;
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cout << "move it while calibration takes place." << endl;
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cout << "This may take a couple of minutes." << endl;
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gyro->calibrate(CALIBRATION_SAMPLES);
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cout << "Calibration complete. Reference value: "
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<< gyro->calibrationValue() << endl;
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// Read the input and print both the raw value and the angular velocity,
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// waiting 0.1 seconds between readings
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while (shouldRun)
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{
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unsigned int val = gyro->value();
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double av = gyro->angularVelocity(val);
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cout << "Raw value: " << val << ", "
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<< "angular velocity: " << av << " deg/s" << endl;
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usleep(100000);
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}
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//! [Interesting]
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cout << "Exiting" << endl;
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delete gyro;
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return 0;
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}
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