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/*
* 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;
}
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