example_bma180_i2c.cpp

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

// example_bma180_i2c.cpp

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

#include <bma180.hpp>
#include <arduino_interface.hpp> 


// NODE PARAMETERS:
static const int PUBLISH_RATE = 50;  

using namespace bosch_drivers_common;

int main( int argc, char** argv )
{
  // Create an Arduino Bosch Hardware interface:
  ArduinoInterface Arduino( "/dev/ttyACM1" );
 
  // Instantiate a sensor, and pass pointers to it's hardware interface and its parameters:
  BMA180 AccelSensor( &Arduino ); 

  //AccelSensor.setSlaveAddressBit(1);// SDO connected to VDD.  (GND)
 
  //AccelSensor.setAccelRange(BMA180Parameters::RANGE_4);
  //AccelSensor.setBandwidth(BMA180Parameters::BW_150);
  //AccelSensor.setPreCalOffsets(false); 

  // Initialize the Driver (and hardware) with sensor-specific parameters:
  bool init_success = AccelSensor.initialize(); 

  if( init_success == false )
  {
    ROS_ERROR("Accel Sensor initialization failed.");
    return 1;
  }

  bool run_continuous_ = true;

  // Initialize time, since we're not actually creating a node:
  ros::Time::init();
  ros::Rate wait_interval( PUBLISH_RATE ); 
  
  double pitch, roll;
 
  while( run_continuous_)
  {
    AccelSensor.takeMeasurement();
    pitch = AccelSensor.getStaticPitch();
    roll = AccelSensor.getStaticRoll();
    pitch *= 180.0 / M_PI;
    roll *= 180.0 / M_PI;

    ROS_INFO("Pitch : %f ", pitch);
    ROS_INFO("roll  : %f ", roll);
    
    wait_interval.sleep();
  }
 
  return 0;
}