upm/examples/c++/enc03r.cxx

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/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2014-2017 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <iostream>
#include <signal.h>
#include "enc03r.hpp"
#include "upm_utilities.h"
using namespace std;
bool shouldRun = true;
// analog voltage, usually 3.3 or 5.0
#define CALIBRATION_SAMPLES 1000
void
sig_handler(int signo)
{
if (signo == SIGINT)
shouldRun = false;
}
int
main()
{
signal(SIGINT, sig_handler);
//! [Interesting]
// Instantiate a ENC03R on analog pin A0
upm::ENC03R gyro(0);
// The first thing we need to do is calibrate the sensor.
cout << "Please place the sensor in a stable location, and do not" << endl;
cout << "move it while calibration takes place." << endl;
cout << "This may take a couple of minutes." << endl;
gyro.calibrate(CALIBRATION_SAMPLES);
cout << "Calibration complete. Reference value: " << gyro.calibrationValue() << endl;
// Read the input and print both the raw value and the angular velocity,
// waiting 0.1 seconds between readings
while (shouldRun) {
gyro.update();
cout << "Angular velocity: " << gyro.angularVelocity() << " deg/s" << endl;
upm_delay_us(100000);
}
//! [Interesting]
cout << "Exiting" << endl;
return 0;
}