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The API for this driver has changed. See docs/apichanges.md. Signed-off-by: Jon Trulson <jtrulson@ics.com>
91 lines
2.6 KiB
C
91 lines
2.6 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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* 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 <unistd.h>
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#include <stdio.h>
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#include <signal.h>
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#include <upm_utilities.h>
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#include <upm_platform.h>
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#include "enc03r.h"
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bool shouldRun = true;
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// The number of samples used for calibration
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#if defined(UPM_PLATFORM_ZEPHYR)
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# define CALIBRATION_SAMPLES 500
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#else
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# define CALIBRATION_SAMPLES 1000
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#endif
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void 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 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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enc03r_context sensor = enc03r_init(0, 5.0);
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if (!sensor)
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{
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printf("%s: enc03r_init() failed\n", __FUNCTION__);
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return 1;
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}
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// The first thing we need to do is calibrate the sensor.
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printf("Please place the sensor in a stable location, and do not\n");
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printf("move it while calibration takes place.\n");
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printf("This may take a little time to complete.\n");
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enc03r_calibrate(sensor, CALIBRATION_SAMPLES);
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printf("Calibration complete. Reference value: %f\n\n",
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enc03r_calibration_value(sensor));
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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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{
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enc03r_update(sensor);
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printf("Angular velocity: %f deg/s\n",
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enc03r_angular_velocity(sensor));
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upm_delay_ms(100);
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}
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printf("Exiting\n");
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enc03r_close(sensor);
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//! [Interesting]
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return 0;
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}
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