upm/src/enc03r/enc03r.h

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/*
* 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;
};
}