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65 lines
1.5 KiB
C++
65 lines
1.5 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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* This program and the accompanying materials are made available under the
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* terms of the The MIT License which is available at
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* https://opensource.org/licenses/MIT.
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*
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* SPDX-License-Identifier: MIT
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*/
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#include <iostream>
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#include <signal.h>
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#include "enc03r.hpp"
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#include "upm_utilities.h"
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using namespace std;
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bool shouldRun = true;
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// analog voltage, usually 3.3 or 5.0
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#define CALIBRATION_SAMPLES 1000
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void
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sig_handler(int signo)
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{
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if (signo == SIGINT)
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shouldRun = false;
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}
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int
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main()
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{
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signal(SIGINT, sig_handler);
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//! [Interesting]
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// Instantiate a ENC03R on analog pin A0
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upm::ENC03R gyro(0);
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// The first thing we need to do is calibrate the sensor.
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cout << "Please place the sensor in a stable location, and do not" << endl;
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cout << "move it while calibration takes place." << endl;
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cout << "This may take a couple of minutes." << endl;
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gyro.calibrate(CALIBRATION_SAMPLES);
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cout << "Calibration complete. Reference value: " << gyro.calibrationValue() << endl;
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// Read the input and print both the raw value and the angular velocity,
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// waiting 0.1 seconds between readings
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while (shouldRun) {
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gyro.update();
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cout << "Angular velocity: " << gyro.angularVelocity() << " deg/s" << endl;
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upm_delay_us(100000);
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}
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//! [Interesting]
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cout << "Exiting" << endl;
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return 0;
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}
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