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116 lines
3.2 KiB
C++
116 lines
3.2 KiB
C++
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2014 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 <mraa/aio.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 ENC03R Single Axis Gyro
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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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*
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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 vref Reference voltage to use; default is 5.0 V
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*/
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ENC03R(int pin, float vref=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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* Returns the raw value of the sensor
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*
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* @return Raw value of the sensor
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*/
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unsigned int value();
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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 m_calibrationValue; };
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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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double angularVelocity(unsigned int val);
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private:
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// determined by calibrate();
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float m_calibrationValue;
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// reference voltage
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float m_vref;
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mraa_aio_context m_aio;
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};
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}
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