example_bma180_i2c_sub20.cpp

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//\Author Joshua Vasquez and Philip Roan, Robert Bosch LLC

#include <ros/ros.h>
#include <ros/time.h>

#include <bma180.hpp>
#include <sub20_interface.hpp> 

using namespace bosch_drivers_common;

int main( int argc, char** argv )
{
  // Create a Bosch Hardware interface
  Sub20Interface Sub20( "0208" );

  // Instantiate a sensor, and pass in the address of its hw interface:
  BMA180 AccelSensor( &Sub20 ); 
  AccelSensor.setProtocol( I2C ); // CSB connected to VDD
  AccelSensor.setFrequency( 400000 );
 
  AccelSensor.setSlaveAddressBit( 0 ); // SDO connected to VSS
 
  AccelSensor.setAccelRange( BMA180Parameters::RANGE_16 );
  AccelSensor.setBandwidth( BMA180Parameters::BW_150 );
  AccelSensor.setPreCalOffsets( true ); // enables precalibrated offsets. Disabled by default.

  // Initialize the Driver (and hardware) with sensor-specific parameters:
  if( AccelSensor.initialize() == false )
  {
    ROS_ERROR("Accel Sensor initialization failed.");
    return 1;
  }

  sleep( 3 ); // to read the register values.

  bool run_continuous_ = true;

  // Initialize ROS's time, since we're not actually creating a node:
  ros::Time::init();
  // create a loop rate:
  ros::Rate wait_interval( 20 ); 
   
  while( run_continuous_)
  {
    AccelSensor.takeMeasurement();
  
    ROS_INFO("Accel_X: %f", AccelSensor.AccelX_);
    ROS_INFO("Accel_Y: %f", AccelSensor.AccelY_);
    ROS_INFO("Accel_Z: %f", AccelSensor.AccelZ_);
    
    wait_interval.sleep();
    
    /*
     * NOTE: if you wish to change the accel_range dynamically (NOT RECOMMENDED ON DATASHEET),
     * you must do two function calls:
     * 1. AccelSensor.setAccelRange( newRange)
     * 2. AccelSensor.changeAccelRange()
     * so that both the class and the sensor interpret the data correctly.
     */
  }
 
  return 0;
}