example_bmc050.cpp

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

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

#include <bmc050.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/ttyACM1" );
 
  // Instantiate a sensor, and pass pointers to it's hardware interface and its parameters:
  BMC050 DualSensor( &Arduino ); 
 
  DualSensor.setProtocol( I2C ); 
  DualSensor.setFrequency( 400000 );
 
  // the hardware configuration determines the compass and accelerometer i2c addresses:
  DualSensor.setCSB2( 0 );  
  DualSensor.setSDO( 0 );  

  // tweak accelerometer settings:
  DualSensor.setAccelRange( BMC050Parameters::RANGE_8 ); // adjusts for the sensitivity AND changes the range in the initialization process.
  DualSensor.setAccelBandwidth( BMC050Parameters::BW_63HZ );
  DualSensor.setFilter( true ); // get filtered data upon initializing
  DualSensor.setCompassRate( BMC050Parameters::ODR_25HZ );
 
  // Initialize the Driver (and hardware) with sensor-specific parameters:
  bool init_success = DualSensor.initialize(); 

  if( init_success == false )
  {
    ROS_ERROR("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( 50 ); 
  
  double MagX, MagY, MagZ, AccX, AccY, AccZ, Temp;
  uint16_t RHall;
 
  while( run_continuous_ )
  {
    if( DualSensor.takeMeasurement() == false )
      break;
  
    MagX = DualSensor.CompassX_;
    MagY = DualSensor.CompassY_;
    MagZ = DualSensor.CompassZ_;
    Temp = DualSensor.Temperature_;
    AccX = DualSensor.AccelX_;
    AccY = DualSensor.AccelY_;
    AccZ = DualSensor.AccelZ_;
    RHall = DualSensor.RHall_;
    
    //ROS_INFO("RHall: %d",RHall);
    ROS_INFO("CompassX: %f", MagX);
    ROS_INFO("CompassY: %f", MagY);
    ROS_INFO("CompassZ: %f", MagZ);
    //ROS_INFO("Accel_Temp: %f", Temp);
    ROS_INFO("AccelerometerX: %f", AccX);  
    ROS_INFO("AccelerometerY: %f",AccY); 
    ROS_INFO("AccelerometerZ: %f\r\n\r\n", AccZ);
  
    wait_interval.sleep();
  } 
  ROS_ERROR("BMC050 node exiting.");

  return 0;
}