1 /*
2 * Author: Jon Trulson <jtrulson@ics.com>
3 * Copyright (c) 2014 Intel Corporation.
4 *
5 * Permission is hereby granted, free of charge, to any person obtaining
6 * a copy of this software and associated documentation files (the
7 * "Software"), to deal in the Software without restriction, including
8 * without limitation the rights to use, copy, modify, merge, publish,
9 * distribute, sublicense, and/or sell copies of the Software, and to
10 * permit persons to whom the Software is furnished to do so, subject to
11 * the following conditions:
12 *
13 * The above copyright notice and this permission notice shall be
14 * included in all copies or substantial portions of the Software.
15 *
16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
20 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
22 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 */
24
25 #include <unistd.h>
26 #include <iostream>
27 #include <signal.h>
28 #include "enc03r.h"
29
30 using namespace std;
31
32 bool shouldRun = true;
33
34 // analog voltage, usually 3.3 or 5.0
35 #define CALIBRATION_SAMPLES 1000
36
sig_handler(int signo)37 void sig_handler(int signo)
38 {
39 if (signo == SIGINT)
40 shouldRun = false;
41 }
42
main()43 int main()
44 {
45 signal(SIGINT, sig_handler);
46
47 //! [Interesting]
48
49 // Instantiate a ENC03R on analog pin A0
50 upm::ENC03R *gyro = new upm::ENC03R(0);
51
52 // The first thing we need to do is calibrate the sensor.
53 cout << "Please place the sensor in a stable location, and do not" << endl;
54 cout << "move it while calibration takes place." << endl;
55 cout << "This may take a couple of minutes." << endl;
56
57 gyro->calibrate(CALIBRATION_SAMPLES);
58 cout << "Calibration complete. Reference value: "
59 << gyro->calibrationValue() << endl;
60
61 // Read the input and print both the raw value and the angular velocity,
62 // waiting 0.1 seconds between readings
63 while (shouldRun)
64 {
65 unsigned int val = gyro->value();
66 double av = gyro->angularVelocity(val);
67
68 cout << "Raw value: " << val << ", "
69 << "angular velocity: " << av << " deg/s" << endl;
70
71 usleep(100000);
72 }
73 //! [Interesting]
74
75 cout << "Exiting" << endl;
76
77 delete gyro;
78 return 0;
79 }
80