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9e3c72a547
Signed-off-by: Jon Trulson <jtrulson@ics.com> Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
80 lines
2.2 KiB
C++
80 lines
2.2 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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#include <iostream>
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#include <string>
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#include <stdexcept>
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#include "enc03r.h"
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using namespace upm;
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using namespace std;
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ENC03R::ENC03R(int pin, float vref)
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{
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mraa_init();
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if ( !(m_aio = mraa_aio_init(pin)) )
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{
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throw std::invalid_argument(std::string(__FUNCTION__) +
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": mraa_aio_init() failed, invalid pin?");
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return;
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}
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m_vref = vref;
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m_calibrationValue = 0;
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}
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ENC03R::~ENC03R()
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{
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mraa_aio_close(m_aio);
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}
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unsigned int ENC03R::value()
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{
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return mraa_aio_read(m_aio);
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}
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void ENC03R::calibrate(unsigned int samples)
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{
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unsigned int val;
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float total = 0.0;
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for (int i=0; i<samples; i++)
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{
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val = mraa_aio_read(m_aio);
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total += (float)val;
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usleep(2000);
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}
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m_calibrationValue = total / (float)samples;
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}
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double ENC03R::angularVelocity(unsigned int val)
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{
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// from seeed studio example
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//return (((double)(val-m_calibrationValue)*(m_vref*1000.0))/1023.0/0.67);
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return (((double)(val-m_calibrationValue)*(m_vref*1000.0))/685.41);
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}
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