upm/examples/java/BNO055_Example.java
Jon Trulson d4b536b593 bno055: C port; C++ wraps C
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>
2017-03-07 13:16:24 -07:00

102 lines
3.9 KiB
Java

/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2016-2017 Intel Corporation.
*
* The MIT License
*
* 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.
*/
import upm_bno055.BNO055;
public class BNO055_Example
{
public static void main(String[] args) throws InterruptedException
{
// ! [Interesting]
System.out.println("Initializing...");
// Instantiate an BNO055 using default parameters (bus 0, addr
// 0x28). The default running mode is NDOF absolute orientation
// mode.
BNO055 sensor = new BNO055();
System.out.println("First we need to calibrate. 4 numbers will be output every");
System.out.println("second for each sensor. 0 means uncalibrated, and 3 means");
System.out.println("fully calibrated.");
System.out.println("See the UPM documentation on this sensor for instructions on");
System.out.println("what actions are required to calibrate.");
System.out.println("");
while (!sensor.isFullyCalibrated())
{
upm_bno055.intVector calData = sensor.getCalibrationStatus();
System.out.println("Magnetometer: " + calData.get(0)
+ " Accelerometer: " + calData.get(1)
+ " Gyroscope: " + calData.get(2)
+ " System: " + calData.get(3));
Thread.sleep(1000);
}
System.out.println("");
System.out.println("Calibration complete.");
System.out.println("");
while (true)
{
// update our values from the sensor
sensor.update();
upm_bno055.floatVector data = sensor.getEulerAngles();
System.out.println("Euler: Heading: " + data.get(0)
+ " Roll: " + data.get(1)
+ " Pitch: " + data.get(2)
+ " degrees");
data = sensor.getQuaternions();
System.out.println("Quaternion: W: " + data.get(0)
+ " X: " + data.get(1)
+ " Y: " + data.get(2)
+ " Z: " + data.get(3));
data = sensor.getLinearAcceleration();
System.out.println("Linear Acceleration: X: " + data.get(0)
+ " Y: " + data.get(1)
+ " Z: " + data.get(2)
+ " m/s^2");
data = sensor.getGravityVectors();
System.out.println("Gravity Vector: X: " + data.get(0)
+ " Y: " + data.get(1)
+ " Z: " + data.get(2)
+ " m/s^2");
System.out.println();
Thread.sleep(250);
}
// ! [Interesting]
}
}