/* * Author: Brendan Le Foll * Author: Ron Evans (@deadprogram) * Author: Justin Zemlyansky (@JustInDevelopment) * Copyright (c) 2016 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 "curieimu.hpp" #include "upm_utilities.h" #include "mraa.h" #include "mraa/firmata.h" #include #include #include int main(int argc, char** argv) { //! [Interesting] mraa_init(); mraa_add_subplatform(MRAA_GENERIC_FIRMATA, "/dev/ttyACM0"); upm::CurieImu sensor; std::cout << "temperature is: " << (sensor.getTemperature() * pow(0.5, 9) + 23) << std::endl; sensor.updateAccel(); int x = sensor.getAccelX(), y = sensor.getAccelY(), z = sensor.getAccelZ(); printf("accelerometer is: %d, %d, %d\n", x, y, z); sensor.updateGyro(); int a = sensor.getGyroX(), b = sensor.getGyroY(), c = sensor.getGyroZ(); printf("gyroscope is: %d, %d, %d\n", a, b, c); int axis, direction; sensor.enableShockDetection(true); for (int i = 0; i < 300; i++) { if (sensor.isShockDetected()) { sensor.getNextShock(); axis = sensor.getAxis(); direction = sensor.getDirection(); printf("shock data is: %d, %d\n", axis, direction); } upm_delay_us(10000); } sensor.updateMotion(); int m = sensor.getAccelX(), n = sensor.getAccelY(), o = sensor.getAccelZ(), p = sensor.getGyroX(), q = sensor.getGyroY(), r = sensor.getGyroZ(); printf("motion is: %d, %d, %d, %d, %d, %d\n", m, n, o, p, q, r); //! [Interesting] return 0; }