example_bmc050.cpp
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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 <bmc050.hpp>
00043 #include <arduino_interface.hpp> 
00044 
00045 using namespace bosch_drivers_common;
00046 
00047 int main( int argc, char** argv )
00048 {
00049   // Create an Arduino Bosch Hardware interface
00050   ArduinoInterface Arduino( "/dev/ttyACM1" );
00051  
00052   // Instantiate a sensor, and pass pointers to it's hardware interface and its parameters:
00053   BMC050 DualSensor( &Arduino ); 
00054  
00055   DualSensor.setProtocol( I2C ); 
00056   DualSensor.setFrequency( 400000 );
00057  
00058   // the hardware configuration determines the compass and accelerometer i2c addresses:
00059   DualSensor.setCSB2( 0 );  
00060   DualSensor.setSDO( 0 );  
00061 
00062   // tweak accelerometer settings:
00063   DualSensor.setAccelRange( BMC050Parameters::RANGE_8 ); // adjusts for the sensitivity AND changes the range in the initialization process.
00064   DualSensor.setAccelBandwidth( BMC050Parameters::BW_63HZ );
00065   DualSensor.setFilter( true ); // get filtered data upon initializing
00066   DualSensor.setCompassRate( BMC050Parameters::ODR_25HZ );
00067  
00068   // Initialize the Driver (and hardware) with sensor-specific parameters:
00069   bool init_success = DualSensor.initialize(); 
00070 
00071   if( init_success == false )
00072   {
00073     ROS_ERROR("Sensor initialization failed.");
00074     return 1;
00075   }
00076 
00077   bool run_continuous_ = true;
00078 
00079   // Initialize time, since we're not actually creating a node:
00080   ros::Time::init();
00081   ros::Rate wait_interval( 50 ); 
00082   
00083   double MagX, MagY, MagZ, AccX, AccY, AccZ, Temp;
00084   uint16_t RHall;
00085  
00086   while( run_continuous_ )
00087   {
00088     if( DualSensor.takeMeasurement() == false )
00089       break;
00090   
00091     MagX = DualSensor.CompassX_;
00092     MagY = DualSensor.CompassY_;
00093     MagZ = DualSensor.CompassZ_;
00094     Temp = DualSensor.Temperature_;
00095     AccX = DualSensor.AccelX_;
00096     AccY = DualSensor.AccelY_;
00097     AccZ = DualSensor.AccelZ_;
00098     RHall = DualSensor.RHall_;
00099     
00100     //ROS_INFO("RHall: %d",RHall);
00101     ROS_INFO("CompassX: %f", MagX);
00102     ROS_INFO("CompassY: %f", MagY);
00103     ROS_INFO("CompassZ: %f", MagZ);
00104     //ROS_INFO("Accel_Temp: %f", Temp);
00105     ROS_INFO("AccelerometerX: %f", AccX);  
00106     ROS_INFO("AccelerometerY: %f",AccY); 
00107     ROS_INFO("AccelerometerZ: %f\r\n\r\n", AccZ);
00108   
00109     wait_interval.sleep();
00110   } 
00111   ROS_ERROR("BMC050 node exiting.");
00112 
00113   return 0;
00114 }


bosch_drivers_example_nodes
Author(s): Joshua Vasquez, Philip Roan. Maintained by Philip Roan
autogenerated on Mon Oct 6 2014 10:10:06