2015-09-22 19:15:58 +03:00
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/*
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* Author: Stefan Andritoiu <stefan.andritoiu@intel.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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//NOT TESTED!!!
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public class ENC03RSample {
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private static final long CALIBRATION_SAMPLES = 1000;
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2015-10-08 14:30:12 +03:00
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2015-09-22 19:15:58 +03:00
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public static void main(String[] args) throws InterruptedException {
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2015-10-08 14:30:12 +03:00
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// ! [Interesting]
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2015-09-22 19:15:58 +03:00
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// Instantiate a ENC03R on analog pin A0
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upm_enc03r.ENC03R gyro = new upm_enc03r.ENC03R(0);
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2015-10-08 14:30:12 +03:00
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2015-09-22 19:15:58 +03:00
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System.out.println("Please place the sensor in a stable location, and do not");
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System.out.println("move it while calibration takes place");
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System.out.println("This may take a couple of minutes.");
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2015-10-08 14:30:12 +03:00
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2015-09-22 19:15:58 +03:00
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gyro.calibrate(CALIBRATION_SAMPLES);
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System.out.println("Calibration complete. Reference value: " + gyro.calibrationValue());
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2015-10-08 14:30:12 +03:00
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2015-09-22 19:15:58 +03:00
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// Read the input and print both the raw value and the angular velocity,
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// waiting 1 second between readings
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2015-10-08 14:30:12 +03:00
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while (true) {
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2015-09-22 19:15:58 +03:00
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long val = gyro.value();
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double av = gyro.angularVelocity(val);
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2015-10-08 14:30:12 +03:00
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2015-09-22 19:15:58 +03:00
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System.out.println("Raw value: " + val + ", angular velocity: " + av + " deg/s");
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2015-10-08 14:30:12 +03:00
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2015-09-22 19:15:58 +03:00
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Thread.sleep(1000);
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}
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2015-10-08 14:30:12 +03:00
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// ! [Interesting]
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2015-09-22 19:15:58 +03:00
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}
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}
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