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      1 /*jslint node:true, vars:true, bitwise:true, unparam:true */
      2 /*jshint unused:true */
      3 /*global */
      4 /*
      5 * Author: Zion Orent <zorent (at) ics.com>
      6 * Copyright (c) 2014 Intel Corporation.
      7 *
      8 * Permission is hereby granted, free of charge, to any person obtaining
      9 * a copy of this software and associated documentation files (the
     10 * "Software"), to deal in the Software without restriction, including
     11 * without limitation the rights to use, copy, modify, merge, publish,
     12 * distribute, sublicense, and/or sell copies of the Software, and to
     13 * permit persons to whom the Software is furnished to do so, subject to
     14 * the following conditions:
     15 *
     16 * The above copyright notice and this permission notice shall be
     17 * included in all copies or substantial portions of the Software.
     18 *
     19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
     20 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
     21 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
     22 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
     23 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
     24 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
     25 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
     26 */
     27 
     28 // Load analog gyro module
     29 var analogGyro = require('jsupm_enc03r');
     30 // Instantiate a ENC03R on analog pin A0
     31 var myGyro = new analogGyro.ENC03R(0);
     32 
     33 var CALIBRATION_SAMPLES = 1000;
     34 
     35 console.log("Please place the sensor in a stable location,\n" +
     36 			"and do not move it while calibration takes place.\n" +
     37 			"This may take a couple of minutes.");
     38 
     39 myGyro.calibrate(CALIBRATION_SAMPLES);
     40 console.log("Calibration complete.  Reference value: " +
     41             myGyro.calibrationValue());
     42 
     43 // Read the input and print both the raw value and the angular velocity,
     44 // waiting 0.1 seconds between readings
     45 setInterval(function()
     46 {
     47 	var gyroVal = myGyro.value();
     48 	var outputStr = "Raw value: " + gyroVal + ", "  +
     49 					"angular velocity: " +
     50 					roundNum(myGyro.angularVelocity(gyroVal), 5) + " deg/s";
     51 	console.log(outputStr);
     52 }, 100);
     53 
     54 function roundNum(num, decimalPlaces)
     55 {
     56 	var extraNum = (1 / (Math.pow(10, decimalPlaces) * 1000));
     57 	return (Math.round((num + extraNum) * (Math.pow(10, decimalPlaces))) /
     58             Math.pow(10, decimalPlaces));
     59 }
     60 
     61 // Print message when exiting
     62 process.on('SIGINT', function()
     63 {
     64 	console.log("Exiting...");
     65 	process.exit(0);
     66 });
     67