From b2ffcdd9ea8068bd7f51ba73feee1e3a078f0ce7 Mon Sep 17 00:00:00 2001
From: Mihai Tudor Panu <mihai.t.panu@intel.com>
Date: Thu, 6 Nov 2014 10:01:12 -0800
Subject: [PATCH] grove: rotary angle sensor

Signed-off-by: Mihai Tudor Panu <mihai.t.panu@intel.com>
Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>
---
 docs/images/groverotary.jpeg       | Bin 0 -> 20514 bytes
 examples/groverotary.cxx           |  57 +++++++++++++++++++++++++
 examples/javascript/groverotary.js |  49 ++++++++++++++++++++++
 examples/python/groverotary.py     |  45 ++++++++++++++++++++
 src/grove/grove.cxx                |  45 ++++++++++++++++++++
 src/grove/grove.h                  |  65 +++++++++++++++++++++++++++++
 6 files changed, 261 insertions(+)
 create mode 100644 docs/images/groverotary.jpeg
 create mode 100644 examples/groverotary.cxx
 create mode 100644 examples/javascript/groverotary.js
 create mode 100644 examples/python/groverotary.py

diff --git a/docs/images/groverotary.jpeg b/docs/images/groverotary.jpeg
new file mode 100644
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diff --git a/examples/groverotary.cxx b/examples/groverotary.cxx
new file mode 100644
index 00000000..c190cf50
--- /dev/null
+++ b/examples/groverotary.cxx
@@ -0,0 +1,57 @@
+/*
+ * Author: Mihai Tudor Panu <mihai.t.panu@intel.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.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <iomanip>
+#include "grove.h"
+
+using namespace std;
+
+int main ()
+{
+//! [Interesting]
+    // Instantiate a rotary sensor on analog pin A0
+    upm::GroveRotary* knob = new upm::GroveRotary(0);
+
+    // Print sensor name to confirm it initialized properly
+    cout << knob->name() << endl;
+
+    while(true) {
+        float abs_value = knob->abs_value(); // Absolute raw value
+        float abs_deg = knob->abs_deg();     // Absolute degrees
+        float abs_rad = knob->abs_rad();     // Absolute radians
+        float rel_value = knob->rel_value(); // Relative raw value
+        float rel_deg = knob->rel_deg();     // Relative degrees
+        float rel_rad = knob->rel_rad();     // Relative radians
+
+        fprintf(stdout, "Absolute: %4d raw %5.2f deg = %3.2f rad Relative: %4d raw %5.2f deg %3.2f rad\n",
+                (int16_t)abs_value, abs_deg, abs_rad, (int16_t)rel_value, rel_deg, rel_rad);
+
+        usleep(2500000); // Sleep for 2.5s
+    }
+//! [Interesting]
+    delete knob;
+    return 0;
+}
diff --git a/examples/javascript/groverotary.js b/examples/javascript/groverotary.js
new file mode 100644
index 00000000..591269c5
--- /dev/null
+++ b/examples/javascript/groverotary.js
@@ -0,0 +1,49 @@
+/*
+ * Author: Mihai Tudor Panu <mihai.t.panu@intel.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.
+ */
+
+//setup/Initialization
+var upm_grove = require('jsupm_grove');
+
+//setup access analog input Analog pin #0 (A0)
+var groveRotary = new upm_grove.GroveRotary(0);
+
+loop();
+
+function loop()
+{
+    var abs = groveRotary.abs_value();
+    var absdeg = groveRotary.abs_deg();
+    var absrad = groveRotary.abs_rad();
+
+    var rel = groveRotary.rel_value();
+    var reldeg = groveRotary.rel_deg();
+    var relrad = groveRotary.rel_rad();
+
+    //write the knob value to the console in different formats
+    console.log("Abs: " + abs + " " + Math.round(parseInt(absdeg)) + " " + absrad.toFixed(3));
+    console.log("Rel: " + rel + " " + Math.round(parseInt(reldeg)) + " " + relrad.toFixed(3));
+
+    //wait 2 s and call function again
+    setTimeout(loop, 2000);
+}
diff --git a/examples/python/groverotary.py b/examples/python/groverotary.py
new file mode 100644
index 00000000..95d7965f
--- /dev/null
+++ b/examples/python/groverotary.py
@@ -0,0 +1,45 @@
+# Author: Mihai Tudor Panu <mihai.t.panu@intel.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.
+
+from time import sleep
+import pyupm_grove as grove
+
+# New knob on AIO pin 0
+knob = grove.GroveRotary(0)
+
+# Loop indefinitely
+while True:
+
+    # Read values
+    abs = knob.abs_value()
+    absdeg = knob.abs_deg()
+    absrad = knob.abs_rad()
+
+    rel = knob.rel_value()
+    reldeg = knob.rel_deg()
+    relrad = knob.rel_rad()
+
+    print "Abs values: %4d" % int(abs) , " raw %4d" % int(absdeg), "deg = %5.2f" % absrad , " rad ",
+    print "Rel values: %4d" % int(rel) , " raw %4d" % int(reldeg), "deg = %5.2f" % relrad , " rad"
+
+    # Sleep for 2.5 s
+    sleep(2.5)
diff --git a/src/grove/grove.cxx b/src/grove/grove.cxx
index af761724..199aa6b6 100644
--- a/src/grove/grove.cxx
+++ b/src/grove/grove.cxx
@@ -1,5 +1,6 @@
 /*
  * Author: Brendan Le Foll <brendan.le.foll@intel.com>
+ * Contributions: Mihai Tudor Panu <mihai.t.panu@intel.com>
  * Copyright (c) 2014 Intel Corporation.
  *
  * Permission is hereby granted, free of charge, to any person obtaining
@@ -115,3 +116,47 @@ float GroveLight::raw_value()
 {
     return (float) mraa_aio_read(m_aio);
 }
+
+//// GroveRotary ////
+
+GroveRotary::GroveRotary(unsigned int pin)
+{
+    mraa_init();
+    m_aio = mraa_aio_init(pin);
+    m_name = "Rotary Angle Sensor";
+}
+
+GroveRotary::~GroveRotary()
+{
+    mraa_aio_close(m_aio);
+}
+
+float GroveRotary::abs_value()
+{
+    return (float) mraa_aio_read(m_aio);
+}
+
+float GroveRotary::abs_deg()
+{
+    return GroveRotary::abs_value() * (float) m_max_angle / 1023.0;
+}
+
+float GroveRotary::abs_rad()
+{
+    return GroveRotary::abs_deg() * M_PI / 180.0;
+}
+
+float GroveRotary::rel_value()
+{
+    return GroveRotary::abs_value() - 512.0;
+}
+
+float GroveRotary::rel_deg()
+{
+    return GroveRotary::rel_value() * (float) m_max_angle / 1023.0;
+}
+
+float GroveRotary::rel_rad()
+{
+    return GroveRotary::rel_deg() * M_PI / 180.0;
+}
diff --git a/src/grove/grove.h b/src/grove/grove.h
index 124a22c5..2996b360 100644
--- a/src/grove/grove.h
+++ b/src/grove/grove.h
@@ -1,5 +1,6 @@
 /*
  * Author: Brendan Le Foll <brendan.le.foll@intel.com>
+ * Contributions: Mihai Tudor Panu <mihai.t.panu@intel.com>
  * Copyright (c) 2014 Intel Corporation.
  *
  * Permission is hereby granted, free of charge, to any person obtaining
@@ -135,4 +136,68 @@ class GroveLight: public Grove {
         mraa_aio_context m_aio;
 };
 
+/**
+ * @brief C++ API for Grove Rotary Angle Sensor (Knob)
+ *
+ * Very basic UPM module for Grove rotary angle sensor (knob) on analog. Provides
+ * a set of functions to read the absolute pin value, degrees or radians and another
+ * to do the same relative to the center of the knob's range.
+ *
+ * @ingroup grove analog
+ * @snippet groverotary.cxx Interesting
+ * @image html groverotary.jpeg
+ */
+class GroveRotary: public Grove {
+    public:
+        /**
+         * Grove rotary angle sensor constructor
+         *
+         * @param pin number of analog pin to use
+         */
+        GroveRotary(unsigned int pin);
+        /**
+         * GroveRotary Destructor
+         */
+        ~GroveRotary();
+        /**
+         * Get absolute raw value from AIO pin
+         *
+         * @return the unsigned value from the ADC
+         */
+        float abs_value();
+        /**
+         * Get absolute raw degrees from AIO pin
+         *
+         * @return the unsigned degrees from the ADC
+         */
+        float abs_deg();
+        /**
+         * Get absolute raw radians from AIO pin
+         *
+         * @return the unsigned radians from the ADC
+         */
+        float abs_rad();
+        /**
+         * Get the relative value from the pin
+         *
+         * @return the signed value from the ADC
+         */
+        float rel_value();
+        /**
+         * Get relative degrees from AIO pin
+         *
+         * @return the signed degrees from the ADC
+         */
+        float rel_deg();
+        /**
+         * Get relative radians from AIO pin
+         *
+         * @return the signed radians from the ADC
+         */
+        float rel_rad();
+    private:
+        mraa_aio_context m_aio;
+        static const int m_max_angle = 300;
+};
+
 }