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5e7a8b41a3
Many of the UPM libraries allocate space on the heap but do not explicitly handle copying and assignment. This commit uses C++11 delete to forbit both the copy and assignment operator for these classes. The C++ examples which used assignment operators to initialize class instances were also updated since it did not appear necessary in those cases to use the assignment operator. Signed-off-by: Noel Eck <noel.eck@intel.com>
141 lines
4.5 KiB
C++
141 lines
4.5 KiB
C++
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2014-2017 Intel Corporation.
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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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#pragma once
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#include <string>
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#include "enc03r.h"
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namespace upm {
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/**
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* @brief ENC03R Single Axis Gyro library
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* @defgroup enc03r libupm-enc03r
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* @ingroup seeed analog compass robok
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*/
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/**
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* @library enc03r
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* @sensor enc03r
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* @comname Single-axis Analog Gyro Module
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* @altname Grove Single Axis Analog Gyro
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* @type compass
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* @man seeed
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* @con analog
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* @kit robok
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* @web http://www.murata.com/en-us/products/productdetail?partno=ENC-03RC-R
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*
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* @brief API for the ENC03R Single Axis Analog Gyro
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*
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* UPM module for the ENC03R single axis analog gyro.
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* This gyroscope measures x-axis angular velocity, that is
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* how fast the sensor is rotating around the x-axis.
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* Calibration of the sensor is necessary for accurate readings.
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*
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* @image html enc03r.jpg
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* @snippet enc03r.cxx Interesting
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*/
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class ENC03R {
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public:
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/**
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* ENC03R sensor constructor
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*
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* @param pin Analog pin to use
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* @param aref Reference voltage to use; default is 5.0 V
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*/
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ENC03R(int pin, float aref=5.0);
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/**
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* ENC03R destructor
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*/
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~ENC03R();
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/**
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* Calibrates the sensor by determining an analog reading over many
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* samples with no movement of the sensor. This must be done
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* before attempting to use the sensor.
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*
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* @param samples Number of samples to use for calibration
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*/
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void calibrate(unsigned int samples);
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/**
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* Update the internal state with the current reading. This
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* function must be called prior to calling
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* angularVelocity().
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*
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* @param dev Device context
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*/
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void update();
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/**
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* Returns the currently stored calibration value
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*
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* @return Current calibration value
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*/
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float calibrationValue() { return enc03r_calibration_value(m_enc03r); };
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/**
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* Computes angular velocity based on the value and stored calibration
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* reference.
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*
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* @param val Value to use to compute angular velocity
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* @return Computed angular velocity
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*/
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float angularVelocity();
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/**
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* Set sensor offset. The offset is applied to the return value
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* before scaling. Default is 0.
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*
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* @param offset Offset to apply to value
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*/
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void setOffset(float offset);
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/**
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* Set sensor scale. The return value is scaled by this value
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* after the offset is applied. Default is 1.0.
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*
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* @param scale Scale to apply to value
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*/
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void setScale(float scale);
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/**
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* Get a normalized ADC value from the sensor. The return
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* value will be between 0.0 (indicating no voltage) and 1.0
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* indicating max voltage (aref). update() must be called
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* prior to calling this function.
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*
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* @return The normalized reading from the ADC.
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*/
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float getNormalized();
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protected:
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enc03r_context m_enc03r;
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private:
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/* Disable implicit copy and assignment operators */
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ENC03R(const ENC03R&) = delete;
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ENC03R &operator=(const ENC03R&) = delete;
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};
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}
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