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      1 /*
      2  * Author: Stefan Andritoiu <stefan.andritoiu (at) intel.com>
      3  * Copyright (c) 2015 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 //NOT TESTED!!!
     26 public class ENC03RSample {
     27 	private static final long CALIBRATION_SAMPLES = 1000;
     28 
     29 	static {
     30 		try {
     31 			System.loadLibrary("javaupm_enc03r");
     32 		} catch (UnsatisfiedLinkError e) {
     33 			System.err.println("error in loading native library");
     34 			System.exit(-1);
     35 		}
     36 	}
     37 
     38 	public static void main(String[] args) throws InterruptedException {
     39 		// ! [Interesting]
     40 
     41 		// Instantiate a ENC03R on analog pin A0
     42 		upm_enc03r.ENC03R gyro = new upm_enc03r.ENC03R(0);
     43 
     44 		System.out.println("Please place the sensor in a stable location, and do not");
     45 		System.out.println("move it while calibration takes place");
     46 		System.out.println("This may take a couple of minutes.");
     47 
     48 		gyro.calibrate(CALIBRATION_SAMPLES);
     49 		System.out.println("Calibration complete.  Reference value: " + gyro.calibrationValue());
     50 
     51 		// Read the input and print both the raw value and the angular velocity,
     52 		// waiting 1 second between readings
     53 		while (true) {
     54 			long val = gyro.value();
     55 			double av = gyro.angularVelocity(val);
     56 
     57 			System.out.println("Raw value: " + val + ", angular velocity: " + av + " deg/s");
     58 
     59 			Thread.sleep(1000);
     60 		}
     61 		// ! [Interesting]
     62 	}
     63 
     64 }