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      1 /*
      2  * Author: Jon Trulson <jtrulson (at) 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 
     37 void sig_handler(int signo)
     38 {
     39   if (signo == SIGINT)
     40     shouldRun = false;
     41 }
     42 
     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