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d4b536b593
The API has been changed in some cases - see the apichanges.md
document.
In addition, this driver uses a new upm_vectortypes.i SWIG interface
file to provide a mechanism for methods that return a vector of floats
and ints instead of a pointer to an array.
This works much nicer than C array pointers, and results in Python/JS/Java
code that looks much more "natural" to the language in use.
The Python, JS, and Java examples have been changed to use these
methods. Support for the "old" C-style pointer methods are still
provided for backward compatibility with existing code.
As an example - to retrieve the x, y, and z data for Euler Angles from
the bno055, the original python code would look something like:
...
x = sensorObj.new_floatp()
y = sensorObj.new_floatp()
z = sensorObj.new_floatp()
...
sensor.getEulerAngles(x, y, z)
...
print("Euler: Heading:", sensorObj.floatp_value(x), end=' ')
print(" Roll:", sensorObj.floatp_value(y), end=' ')
...
Now the equivalent code is simply:
floatData = sensor.getEulerAngles()
print("Euler: Heading:", floatData[0], ...
print(" Roll:", floatData[1], end=' ')
...
Additionally, interrupt handling for Java is now implemented
completely in the C++ header file now rather than the .cxx file, so no
special SWIG processing is required anymore. See Issue #518 .
Signed-off-by: Jon Trulson <jtrulson@ics.com>
102 lines
3.9 KiB
Java
102 lines
3.9 KiB
Java
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2016-2017 Intel Corporation.
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*
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* The MIT License
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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import upm_bno055.BNO055;
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public class BNO055_Example
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{
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public static void main(String[] args) throws InterruptedException
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{
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// ! [Interesting]
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System.out.println("Initializing...");
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// Instantiate an BNO055 using default parameters (bus 0, addr
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// 0x28). The default running mode is NDOF absolute orientation
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// mode.
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BNO055 sensor = new BNO055();
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System.out.println("First we need to calibrate. 4 numbers will be output every");
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System.out.println("second for each sensor. 0 means uncalibrated, and 3 means");
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System.out.println("fully calibrated.");
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System.out.println("See the UPM documentation on this sensor for instructions on");
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System.out.println("what actions are required to calibrate.");
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System.out.println("");
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while (!sensor.isFullyCalibrated())
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{
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upm_bno055.intVector calData = sensor.getCalibrationStatus();
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System.out.println("Magnetometer: " + calData.get(0)
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+ " Accelerometer: " + calData.get(1)
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+ " Gyroscope: " + calData.get(2)
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+ " System: " + calData.get(3));
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Thread.sleep(1000);
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}
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System.out.println("");
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System.out.println("Calibration complete.");
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System.out.println("");
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while (true)
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{
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// update our values from the sensor
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sensor.update();
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upm_bno055.floatVector data = sensor.getEulerAngles();
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System.out.println("Euler: Heading: " + data.get(0)
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+ " Roll: " + data.get(1)
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+ " Pitch: " + data.get(2)
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+ " degrees");
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data = sensor.getQuaternions();
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System.out.println("Quaternion: W: " + data.get(0)
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+ " X: " + data.get(1)
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+ " Y: " + data.get(2)
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+ " Z: " + data.get(3));
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data = sensor.getLinearAcceleration();
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System.out.println("Linear Acceleration: X: " + data.get(0)
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+ " Y: " + data.get(1)
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+ " Z: " + data.get(2)
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+ " m/s^2");
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data = sensor.getGravityVectors();
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System.out.println("Gravity Vector: X: " + data.get(0)
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+ " Y: " + data.get(1)
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+ " Z: " + data.get(2)
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+ " m/s^2");
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System.out.println();
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Thread.sleep(250);
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}
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// ! [Interesting]
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}
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}
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