example_bma180_spi.cpp
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00001 /*********************************************************************
00002  *
00003  * Software License Agreement (BSD License)
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00014  *   * Redistributions in binary form must reproduce the above
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00036 
00037 //\Author Joshua Vasquez and Philip Roan, Robert Bosch LLC
00038 
00039 #include <ros/ros.h>
00040 #include <ros/time.h>
00041 
00042 #include <bma180.hpp>
00043 #include <arduino_interface.hpp> 
00044 
00045 
00046 using namespace bosch_drivers_common;
00047 
00048 int main( int argc, char** argv )
00049 {
00050   // Create an Arduino Bosch Hardware interface:
00051   ArduinoInterface Arduino( "/dev/ttyACM0" );
00052  
00053   // Instantiate a sensor, and pass pointers to it's hardware interface:
00054   BMA180 AccelSensor( &Arduino ); 
00055 
00056   AccelSensor.setProtocol( SPI ); // CSB connected to VDD
00057   AccelSensor.setPin( 10 ); // arduino SPI chip-select on pin 10
00058 
00059   // Initialize the Driver (and hardware) with sensor-specific parameters:
00060   bool init_success = AccelSensor.initialize(); 
00061 
00062   if( init_success == false )
00063   {
00064     ROS_ERROR("Accel Sensor initialization failed.");
00065     return 1;
00066   }
00067 
00068   // Initialize time, since we're not actually creating a node:
00069   ros::Time::init();
00070   // create a loop rate:
00071   ros::Rate wait_interval( 20 ); 
00072 
00073   double pitch,roll; // acceleration and angle values.
00074 
00075   while( true )
00076   {
00077     AccelSensor.getAccelData();
00078     pitch = AccelSensor.getStaticPitch();
00079     roll = AccelSensor.getStaticRoll();
00080     
00081     pitch = pitch * ( 180.0 / M_PI );
00082     roll = roll * ( 180.0 / M_PI );
00083     
00084     ROS_INFO("pitch : %f ", pitch);
00085     ROS_INFO("roll  : %f \r\n", roll);
00086 
00087     wait_interval.sleep();
00088   }
00089  
00090   return 0;
00091 }


bosch_drivers_example_nodes
Author(s): Joshua Vasquez, Philip Roan. Maintained by Philip Roan
autogenerated on Sat Dec 28 2013 16:49:21