| /* |
| * Author: Mihai Tudor Panu <mihai.tudor.panu@intel.com> |
| * Copyright (c) 2014 Intel Corporation. |
| * |
| * Permission is hereby granted, free of charge, to any person obtaining |
| * a copy of this software and associated documentation files (the |
| * "Software"), to deal in the Software without restriction, including |
| * without limitation the rights to use, copy, modify, merge, publish, |
| * distribute, sublicense, and/or sell copies of the Software, and to |
| * permit persons to whom the Software is furnished to do so, subject to |
| * the following conditions: |
| * |
| * The above copyright notice and this permission notice shall be |
| * included in all copies or substantial portions of the Software. |
| * |
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
| * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF |
| * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
| * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE |
| * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION |
| * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION |
| * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
| */ |
| |
| #include <unistd.h> |
| #include "itg3200.h" |
| |
| int |
| main(int argc, char **argv) |
| { |
| //! [Interesting] |
| int16_t *rot; |
| float *ang; |
| |
| // Note: Sensor not supported on Intel Edison with Arduino breakout |
| upm::Itg3200* gyro = new upm::Itg3200(0); |
| |
| while(true){ |
| gyro->update(); // Update the data |
| rot = gyro->getRawValues(); // Read raw sensor data |
| ang = gyro->getRotation(); // Read rotational speed (deg/sec) |
| fprintf(stdout, "Raw: %6d %6d %6d\n", rot[0], rot[1], rot[2]); |
| fprintf(stdout, "AngX: %5.2f\n", ang[0]); |
| fprintf(stdout, "AngY: %5.2f\n", ang[1]); |
| fprintf(stdout, "AngZ: %5.2f\n", ang[2]); |
| fprintf(stdout, "Temp: %5.2f Raw: %6d\n", gyro->getTemperature(), gyro->getRawTemp()); |
| sleep(1); |
| } |
| //! [Interesting] |
| return 0; |
| } |