ENC03R Class Reference

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

Detailed Description

• ID: enc03r
• Name: ENC03R Single Axis Gyro
• Other Names: Grove Single Axis Analog Gyro
• Category: compass
• Manufacturer: seeed
• Connection: analog
• Kit: robok

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 = new upm::ENC03R(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)
    {
      unsigned int val = gyro->value();
      double av = gyro->angularVelocity(val);

      cout << "Raw value: " << val << ", "  
           << "angular velocity: " << av << " deg/s" << endl;
      
      usleep(100000);
    }

Public Member Functions
	ENC03R (int pin, float vref=5.0)
	~ENC03R ()
void	calibrate (unsigned int samples)
unsigned int	value ()
float	calibrationValue ()
double	angularVelocity (unsigned int val)

Constructor & Destructor Documentation

ENC03R	(	int	pin,
		float	vref = 5.0
	)

ENC03R sensor constructor

Parameters

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

~ENC03R

(

)

ENC03R destructor

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

unsigned int value

(

)

Returns the raw value of the sensor

Returns

Raw value of the sensor

float calibrationValue ( )

inline

Returns the currently stored calibration value

Returns

Current calibration value

double angularVelocity

(

unsigned int

val

)

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

• /var/lib/jenkins/workspace/upm-doc-stable/src/enc03r/enc03r.h
• /var/lib/jenkins/workspace/upm-doc-stable/src/enc03r/enc03r.cxx