example_bma180_spi.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 <arduino_interface.hpp> 


using namespace bosch_drivers_common;

int main( int argc, char** argv )
{
  // Create an Arduino Bosch Hardware interface:
  ArduinoInterface Arduino( "/dev/ttyACM0" );
 
  // Instantiate a sensor, and pass pointers to it's hardware interface:
  BMA180 AccelSensor( &Arduino ); 

  AccelSensor.setProtocol( SPI ); // CSB connected to VDD
  AccelSensor.setPin( 10 ); // arduino SPI chip-select on pin 10

  // 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;
  }

  // Initialize time, since we're not actually creating a node:
  ros::Time::init();
  // create a loop rate:
  ros::Rate wait_interval( 20 ); 

  double pitch,roll; // acceleration and angle values.

  while( true )
  {
    AccelSensor.getAccelData();
    pitch = AccelSensor.getStaticPitch();
    roll = AccelSensor.getStaticRoll();
    
    pitch = pitch * ( 180.0 / M_PI );
    roll = roll * ( 180.0 / M_PI );
    
    ROS_INFO("pitch : %f ", pitch);
    ROS_INFO("roll  : %f \r\n", roll);

    wait_interval.sleep();
  }
 
  return 0;
}