/*
 * Author: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
 * Copyright (c) 2014 Intel Corporation.
 *
 * This program and the accompanying materials are made available under the
 * terms of the The MIT License which is available at
 * https://opensource.org/licenses/MIT.
 *
 * SPDX-License-Identifier: MIT
 */

#include <iostream>
#include <stdint.h>
#include <stdio.h>

#include "rotary.hpp"
#include "upm_utilities.h"

using namespace std;

int
main()
{
    //! [Interesting]
    // Instantiate a rotary sensor on analog pin A0
    upm::Rotary knob(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);

        upm_delay_us(2500000); // Sleep for 2.5s
    }
    //! [Interesting]
    return 0;
}