/* * Author: Jon Trulson * 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 #include #include #include #include #include "enc03r.h" bool shouldRun = true; // The number of samples used for calibration #if defined(UPM_PLATFORM_ZEPHYR) # define CALIBRATION_SAMPLES 500 #else # define CALIBRATION_SAMPLES 1000 #endif void sig_handler(int signo) { if (signo == SIGINT) shouldRun = false; } int main() { signal(SIGINT, sig_handler); //! [Interesting] // Instantiate a ENC03R on analog pin A0 enc03r_context sensor = enc03r_init(0, 5.0); if (!sensor) { printf("%s: enc03r_init() failed\n", __FUNCTION__); return 1; } // The first thing we need to do is calibrate the sensor. printf("Please place the sensor in a stable location, and do not\n"); printf("move it while calibration takes place.\n"); printf("This may take a little time to complete.\n"); enc03r_calibrate(sensor, CALIBRATION_SAMPLES); printf("Calibration complete. Reference value: %f\n\n", enc03r_calibration_value(sensor)); // Read the input and print both the raw value and the angular velocity, // waiting 0.1 seconds between readings while (shouldRun) { enc03r_update(sensor); printf("Angular velocity: %f deg/s\n", enc03r_angular_velocity(sensor)); upm_delay_ms(100); } printf("Exiting\n"); enc03r_close(sensor); //! [Interesting] return 0; }