upm/examples/c++/enc03r.cxx
Mihai Tudor Panu 89d5de43e0 license: update to SPDX style license text throughout
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
2020-03-05 15:13:36 -08:00

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;
}