ENC03R Class Reference

API for the ENC03R Single Axis Analog Gyro. More...

Detailed Description

• ID: enc03r
• Name: Single-axis Analog Gyro Module
• Other Names: Grove Single Axis Analog Gyro
• Category: compass
• Manufacturer: seeed
• Connection: analog
• Kit: robok
• Link: http://www.murata.com/en-us/products/productdetail?partno=ENC-03RC-R

UPM module for the ENC03R single axis analog gyro. This gyroscope measures x-axis angular velocity, that is how fast the sensor is rotating around the x-axis. Calibration of the sensor is necessary for accurate readings.

    // Instantiate a ENC03R on analog pin A0
    upm::ENC03R gyro(0);

    // The first thing we need to do is calibrate the sensor.
    cout << "Please place the sensor in a stable location, and do not" << endl;
    cout << "move it while calibration takes place." << endl;
    cout << "This may take a couple of minutes." << endl;

    gyro.calibrate(CALIBRATION_SAMPLES);
    cout << "Calibration complete.  Reference value: " << gyro.calibrationValue() << endl;

    // Read the input and print both the raw value and the angular velocity,
    // waiting 0.1 seconds between readings
    while (shouldRun) {
        gyro.update();

        cout << "Angular velocity: " << gyro.angularVelocity() << " deg/s" << endl;

        upm_delay_us(100000);
    }

Public Member Functions
	ENC03R (int pin, float aref=5.0)
	~ENC03R ()
void	calibrate (unsigned int samples)
void	update ()
float	calibrationValue ()
float	angularVelocity ()
void	setOffset (float offset)
void	setScale (float scale)
float	getNormalized ()

Protected Attributes
enc03r_context	m_enc03r

Constructor & Destructor Documentation

ENC03R	(	int	pin,
		float	aref = 5.0
	)

ENC03R sensor constructor

Parameters

pin	Analog pin to use
aref	Reference voltage to use; default is 5.0 V

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~ENC03R

(

)

ENC03R destructor

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Member Function Documentation

void calibrate

(

unsigned int

samples

)

Calibrates the sensor by determining an analog reading over many samples with no movement of the sensor. This must be done before attempting to use the sensor.

Parameters

samples

Number of samples to use for calibration

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void update

(

void

)

Update the internal state with the current reading. This function must be called prior to calling angularVelocity().

Parameters

dev	Device context

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float calibrationValue ( )

inline

Returns the currently stored calibration value

Returns

Current calibration value

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float angularVelocity

(

)

Computes angular velocity based on the value and stored calibration reference.

Parameters

val	Value to use to compute angular velocity

Returns

Computed angular velocity

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void setOffset

(

float

offset

)

Set sensor offset. The offset is applied to the return value before scaling. Default is 0.

Parameters

offset

Offset to apply to value

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void setScale

(

float

scale

)

Set sensor scale. The return value is scaled by this value after the offset is applied. Default is 1.0.

Parameters

scale

Scale to apply to value

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float getNormalized

(

)

Get a normalized ADC value from the sensor. The return value will be between 0.0 (indicating no voltage) and 1.0 indicating max voltage (aref). update() must be called prior to calling this function.

Returns

The normalized reading from the ADC.

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Collaboration diagram for ENC03R:

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The documentation for this class was generated from the following files:

• src/enc03r/enc03r.hpp
• src/enc03r/enc03r.cxx