mirror of
https://github.com/eclipse/upm.git
synced 2025-11-04 00:54:21 +03:00
65 lines
1.5 KiB
C++
65 lines
1.5 KiB
C++
/*
|
|
* Author: Jon Trulson <jtrulson@ics.com>
|
|
* Copyright (c) 2014-2017 Intel Corporation.
|
|
*
|
|
* This program and the accompanying materials are made available under the
|
|
* terms of the The MIT License which is available at
|
|
* https://opensource.org/licenses/MIT.
|
|
*
|
|
* SPDX-License-Identifier: MIT
|
|
*/
|
|
|
|
#include <iostream>
|
|
#include <signal.h>
|
|
|
|
#include "enc03r.hpp"
|
|
#include "upm_utilities.h"
|
|
|
|
using namespace std;
|
|
|
|
bool shouldRun = true;
|
|
|
|
// analog voltage, usually 3.3 or 5.0
|
|
#define CALIBRATION_SAMPLES 1000
|
|
|
|
void
|
|
sig_handler(int signo)
|
|
{
|
|
if (signo == SIGINT)
|
|
shouldRun = false;
|
|
}
|
|
|
|
int
|
|
main()
|
|
{
|
|
signal(SIGINT, sig_handler);
|
|
|
|
//! [Interesting]
|
|
|
|
// Instantiate a ENC03R on analog pin A0
|
|
upm::ENC03R gyro(0);
|
|
|
|
// The first thing we need to do is calibrate the sensor.
|
|
cout << "Please place the sensor in a stable location, and do not" << endl;
|
|
cout << "move it while calibration takes place." << endl;
|
|
cout << "This may take a couple of minutes." << endl;
|
|
|
|
gyro.calibrate(CALIBRATION_SAMPLES);
|
|
cout << "Calibration complete. Reference value: " << gyro.calibrationValue() << endl;
|
|
|
|
// Read the input and print both the raw value and the angular velocity,
|
|
// waiting 0.1 seconds between readings
|
|
while (shouldRun) {
|
|
gyro.update();
|
|
|
|
cout << "Angular velocity: " << gyro.angularVelocity() << " deg/s" << endl;
|
|
|
|
upm_delay_us(100000);
|
|
}
|
|
//! [Interesting]
|
|
|
|
cout << "Exiting" << endl;
|
|
|
|
return 0;
|
|
}
|