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/*
* Author: Jon Trulson <jtrulson@ics.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 <iostream>
#include <string>
#include <stdexcept>
#include "enc03r.hpp"
using namespace upm;
using namespace std;
ENC03R::ENC03R(int pin, float vref)
{
if ( !(m_aio = mraa_aio_init(pin)) )
{
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_aio_init() failed, invalid pin?");
return;
}
m_vref = vref;
m_calibrationValue = 0;
}
ENC03R::~ENC03R()
{
mraa_aio_close(m_aio);
}
unsigned int ENC03R::value()
{
int x = mraa_aio_read(m_aio);
if (x == -1) throw std::out_of_range(std::string(__FUNCTION__) +
": Failed to do an aio read.");
return (unsigned int) x;
}
void ENC03R::calibrate(unsigned int samples)
{
unsigned int val;
float total = 0.0;
for (int i=0; i<samples; i++)
{
val = mraa_aio_read(m_aio);
if (val == -1) throw std::out_of_range(std::string(__FUNCTION__) +
": Failed to do an aio read.");
total += (float)val;
usleep(2000);
}
m_calibrationValue = total / (float)samples;
}
double ENC03R::angularVelocity(unsigned int val)
{
// from seeed studio example
//return (((double)(val-m_calibrationValue)*(m_vref*1000.0))/1023.0/0.67);
return (((double)(val-m_calibrationValue)*(m_vref*1000.0))/685.41);
}
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