/* * Author: Jon Trulson * 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 #include #include #include #include #include "l3gd20.hpp" using namespace std; int shouldRun = true; void sig_handler(int signo) { if (signo == SIGINT) shouldRun = false; } float rad2deg(float x) { return x * (180.0 / M_PI); } int main(int argc, char **argv) { signal(SIGINT, sig_handler); //! [Interesting] // Instantiate an L3GD20 using default parameters upm::L3GD20 *sensor = new upm::L3GD20(L3GD20_DEFAULT_I2C_BUS, L3GD20_DEFAULT_I2C_ADDR); // set some parameters (these are already the defaults, but are // provided here as an example) // 250 deg/s sensitivity sensor->setRange(sensor->FS_250); // Set ODR to 95Hz, 25Hz cut-off sensor->setODR(sensor->ODR_CUTOFF_95_25); // If you already have calibration data, you can specify it here // sensor->loadCalibratedData(-0.0296269637, -0.0080939643, -0.0077121737); // now output data every 100 milliseconds while (shouldRun) { float x, y, z; sensor->update(); cout << "Calibrated: " << sensor->getCalibratedStatus() << endl; // output is in radians/s sensor->getGyroscope(&x, &y, &z); cout << fixed << setprecision(1) << "Gyroscope x: " << x << " y: " << y << " z: " << z << " radians" << endl; // same data converted to degrees/s cout << "Gyroscope x: " << rad2deg(x) << " y: " << rad2deg(y) << " z: " << rad2deg(z) << " degrees" << endl; // we show both C and F for temperature cout << "Compensation Temperature: " << sensor->getTemperature(false) << " C / " << sensor->getTemperature(true) << " F" << endl; cout << endl; usleep(100000); } // dump the calibration values if we managed to calibrate if (sensor->getCalibratedStatus()) { float calX, calY, calZ; sensor->getCalibratedData(&calX, &calY, &calZ); cout << setprecision(10) << "Calibration values x: " << calX << " y: " << calY << " z: " << calZ << endl; } cout << "Exiting..." << endl; delete sensor; //! [Interesting] return 0; }