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 MPU9150Sample { 27 28 static { 29 try { 30 System.loadLibrary("javaupm_mpu9150"); 31 } catch (UnsatisfiedLinkError e) { 32 System.err.println("error in loading native library"); 33 System.exit(-1); 34 } 35 } 36 37 public static void main(String[] args) throws InterruptedException { 38 // ! [Interesting] 39 upm_mpu9150.MPU9150 sensor = new upm_mpu9150.MPU9150(); 40 41 sensor.init(); 42 43 while (true) { 44 sensor.update(); 45 46 float[] accel = sensor.getAccelerometer(); 47 System.out.println("Accelerometer: " + "AX: " + accel[0] + " AY: " + accel[1] + " AZ: " 48 + accel[2]); 49 50 float[] gyro = sensor.getGyroscope(); 51 System.out.println("Gryoscope: " + "GX: " + gyro[0] + " GY: " + gyro[1] + " GZ: " 52 + gyro[2]); 53 54 float[] magn = sensor.getMagnetometer(); 55 System.out.println("Magnetometer: " + "MX: " + magn[0] + " MY: " + magn[1] + " MZ: " 56 + magn[2]); 57 58 Thread.sleep(1000); 59 } 60 // ! [Interesting] 61 } 62 }
