mirror of
https://github.com/eclipse/upm.git
synced 2025-03-17 14:07:30 +03:00
101 lines
2.9 KiB
C
101 lines
2.9 KiB
C
![]() |
/*
|
||
|
* Author: Jon Trulson <jtrulson@ics.com>
|
||
|
* Copyright (c) 2014 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.
|
||
|
*/
|
||
|
#pragma once
|
||
|
|
||
|
#include <string>
|
||
|
#include <mraa/aio.h>
|
||
|
|
||
|
namespace upm {
|
||
|
|
||
|
/**
|
||
|
* @brief C++ API for the ENC03R Single Axis Analog Gyro
|
||
|
*
|
||
|
* UPM module for the ENC03R Single Axis Analog Gyro.
|
||
|
* This gyroscope measures the x-axis angular velocity; that is,
|
||
|
* how fast the sensor is rotating around the x-axis.
|
||
|
* Calibration of the sensor is necessary for accurate readings.
|
||
|
*
|
||
|
* @ingroup grove analog
|
||
|
* @snippet enc03r.cxx Interesting
|
||
|
*/
|
||
|
class ENC03R {
|
||
|
public:
|
||
|
|
||
|
/**
|
||
|
* ENC03R sensor constructor
|
||
|
*
|
||
|
* @param pin analog pin to use
|
||
|
* @param vref the voltage reference to use, default 5.0
|
||
|
*/
|
||
|
ENC03R(int pin, float vref=5.0);
|
||
|
|
||
|
/**
|
||
|
* ENC03R Destructor
|
||
|
*/
|
||
|
~ENC03R();
|
||
|
|
||
|
/**
|
||
|
* Calibrate the sensor by determining an analog reading over many
|
||
|
* samples with no movement of the sensor. This must be done
|
||
|
* before attempting to use the sensor.
|
||
|
*
|
||
|
* @param samples the number of samples to use for calibration
|
||
|
*/
|
||
|
void calibrate(unsigned int samples);
|
||
|
|
||
|
/**
|
||
|
* Return the raw value of the sensor
|
||
|
*
|
||
|
* @return raw value of sensor
|
||
|
*/
|
||
|
unsigned int value();
|
||
|
|
||
|
/**
|
||
|
* Return the currently stored calibration value
|
||
|
*
|
||
|
* @return current calibration value
|
||
|
*/
|
||
|
float calibrationValue() { return m_calibrationValue; };
|
||
|
|
||
|
/**
|
||
|
* Compute angular velocity based on value and stored calibration
|
||
|
* reference.
|
||
|
*
|
||
|
* @param val the value to use to compute the angular velocity
|
||
|
* @return computed angular velocity
|
||
|
*/
|
||
|
double angularVelocity(unsigned int val);
|
||
|
|
||
|
private:
|
||
|
// determined by calibrate();
|
||
|
float m_calibrationValue;
|
||
|
|
||
|
// reference voltage
|
||
|
float m_vref;
|
||
|
mraa_aio_context m_aio;
|
||
|
};
|
||
|
}
|
||
|
|
||
|
|