本文整理汇总了C++中HMC5883L类的典型用法代码示例。如果您正苦于以下问题：C++ HMC5883L类的具体用法？C++ HMC5883L怎么用？C++ HMC5883L使用的例子？那么, 这里精选的类代码示例或许可以为您提供帮助。
在下文中一共展示了HMC5883L类的15个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: loadCompassOffset
void loadCompassOffset()
{
byte high,low;
uint addr = CompassStorageAddr;
int offsetX,offsetY;
Wire.begin();
compass.setRange(HMC5883L_RANGE_1_3GA);
compass.setMeasurementMode(HMC5883L_CONTINOUS);
compass.setDataRate(HMC5883L_DATARATE_30HZ);
compass.setSamples(HMC5883L_SAMPLES_8);
offsetX = EEPROM_readInt(addr);
addr += 2;
offsetY = EEPROM_readInt(addr);
compass.setOffset(offsetX,offsetY);
#ifdef DEBUG
debugSerial.print("Compass Offset:");
debugSerial.print(offsetX);
debugSerial.print(" | ");
debugSerial.print(offsetY);
debugSerial.print("\n");
#endif // DEBUG
}示例2: HMC5883L
Comp::Comp()
{
Compass = HMC5883L();
Serial.println("setting scale to +/- 2.0 Ga");
int error = Compass.SetScale(0.88);
error = Compass.SetMeasurementMode(Measurement_Continuous);
if (error != 0)
{
Serial.println(Compass.GetErrorText(error));
}
}示例3: getIMUReadings
void getIMUReadings( ADXL345& a, BMP085& b, HMC5883L& c, L3G4200D& g)
{
a.readAccel(); // WORKING
b.calculateAll(); // WORKING
g.computeValues(); // appears to be WORKING
c.readCompassHeading(); // appears to be WORKING
}示例4: report
/**
* Report magnetometer values
*
* @param magnetometer Magnetometer to use
*/
void report(HMC5883L &magnetometer) {
int16_t compassX,compassY,compassZ;
magnetometer.doMeasurement(&compassX, &compassY, &compassZ);
console.
write("X=").write(compassX).
write("Y=").write(compassY).
write("Z=").writeln(compassZ);
}示例5: updateGCSHeading
void updateGCSHeading() {
//Get the reading from the HMC5883L and calculate the heading
MagnetometerScaled scaled = compass.ReadScaledAxis(); //scaled values from compass.
int angle = atan2(-scaled.YAxis , scaled.XAxis) / M_PI * 180; // angle is atan(-y/x)
if(angle < 0) angle = angle + 360;
homeBearing = angle;
}示例6: main
/**
* Funcion principal donde se piden los datos a la libreria y se publican una vez tratados.
*/
int main(int argc, char **argv)
{
// Iniciamos el nodo.
ros::init(argc, argv, nodo_name);
ros::NodeHandle nodo;
ROS_INFO("nodo_brujula creado y registrado");
// Cargamos el modulo de la brujula.
HMC5883L brujula;
CompassMsg brujula_struct;
int respuesta = brujula.conectamos_brujula();
ROS_INFO("Modulo de la brujula cargado; (id-i2c = %d)", respuesta);
// Definimos el publicador.
ros::Publisher publicador = nodo.advertise<std_msgs::Float64>(topic_name, 0);
ros::Duration seconds_sleep(tiempo_muestreo);
// Bucle donde continuamente se va a realizar la lectura y publicacion de datos.
// Este proceso se realizara cada float tiempo_muestreo
while (ros::ok())
{
// Tomamos un dato de la brujula a partir de la funcion de la libreria.
brujula_struct = brujula.get_data();
// Calibramos el dato obtenido.
//calibracion(brujula_struct);
//maximos_minimos(brujula_struct);
calibracion_rapida(brujula_struct);
// Aplicamos el filtro de la mediana.
filtro_mediana(brujula_struct.angle);
//printf("Magnetometro [x, y, z] = [%d, %d, %d] - Angulo = %f \n", brujula_struct.x, brujula_struct.y, brujula_struct.z, brujula_struct.angle);
std_msgs::Float64 mensaje_ros;
mensaje_ros.data = brujula_struct.angle;
publicador.publish(mensaje_ros);
ros::spinOnce();
seconds_sleep.sleep();
}
return 0;
}示例7: factor
void ExtendoHand::setupOther() {
if (nineAxis) {
// adjust the power settings after you call this method if you want the accelerometer
// to enter standby mode, or another less demanding mode of operation
accel.setRange(1); // 4g
accel.setFullResolution(1); // maintain 4mg/LSB scale factor (irrespective of range)
accel.initialize();
if (!accel.testConnection()) {
osc.sendError("ADXL345 connection failed");
} else {
randomSeed(accel.getAccelerationX() - accel.getAccelerationY() + accel.getAccelerationZ());
}
#ifdef ENABLE_GYRO
gyro.initialize();
if (!gyro.testConnection()) {
osc.sendError("ITG3200 connection failed");
}
#endif // ENABLE_GYRO
#ifdef ENABLE_MAGNETOMETER
magnet.initialize();
if (!magnet.testConnection()) {
osc.sendError("HMC5883L connection failed");
}
#endif // ENABLE_MAGNETOMETER
} else {
#ifdef THREE_AXIS
randomSeed(motionSensor.rawX() + motionSensor.rawY() + motionSensor.rawZ());
// 1.5g constants, sampled 2014-06-21
motionSensor.calibrateX(272, 794);
motionSensor.calibrateY(332, 841);
motionSensor.calibrateZ(175, 700);
#endif // THREE_AXIS
}
vibrateStart = 0;
alertStart = 0;
}示例8: setupMotionSensors
int setupMotionSensors() {
int error = 0;
// Initialization
Wire.begin();
acc.initialize();
mag.initialize();
gyr.initialize();
// Verification
if (!acc.testConnection() ||
!mag.testConnection() ||
!gyr.testConnection())
error = 1;
// Configuration
acc.setRange(ADXL345_RANGE_16G);
mag.setMode(HMC5883L_MODE_CONTINUOUS);
return error;
}示例9: setCompassOffset
void setCompassOffset()
{
#ifdef DEBUG
debugSerial.println("setCompassOffset");
#endif
Wire.begin();
compass.setRange(HMC5883L_RANGE_1_3GA);
compass.setMeasurementMode(HMC5883L_CONTINOUS);
compass.setDataRate(HMC5883L_DATARATE_30HZ);
compass.setSamples(HMC5883L_SAMPLES_8);
int minX = INT_MAX,maxX = INT_MIN,minY = INT_MAX,maxY = INT_MIN;
int offsetX,offsetY;
motor.rotateRun(FORWORD, 128);
delay(200);
#ifdef DEBUG
debugSerial.println("setCompassOffset2");
#endif
for(int i = 0; i < 500; ++i)
{
Vector mag = compass.readRaw();
maxX = max(maxX,mag.XAxis);
maxY = max(maxY,mag.XAxis);
minX = min(minX,mag.XAxis);
minY = min(minY,mag.XAxis);
delay(20);
#ifdef DEBUG
debugSerial.println(i);
#endif // DEBUG
}
motor.stop();
offsetX = (maxX + minX) / 2;
offsetY = (maxY + minY) / 2;
uint addr = CompassStorageAddr;
EEPROM_writeInt(addr,offsetX);
addr += 2;
EEPROM_writeInt(addr,offsetY);
addr += 2;
compass.setOffset(offsetX,offsetY);
#ifdef DEBUG
debugSerial.print("Compass Offset:");
debugSerial.print(offsetX);
debugSerial.print(" | ");
debugSerial.print(offsetY);
debugSerial.print("\n");
#endif // DEBUG
}示例10: main
int main(int argc, char **argv) {
printf("HMC5883L 3-axis acceleromter example program\n");
I2Cdev::initialize();
HMC5883L mag ;
if ( mag.testConnection() )
printf("HMC5883L connection test successful\n") ;
else {
fprintf( stderr, "HMC5883L connection test failed! something maybe wrong, continueing anyway though ...\n");
//return 1;
}
mag.initialize();
mag.setSampleAveraging(HMC5883L_AVERAGING_8);
mag.setGain(HMC5883L_GAIN_1090);
int16_t mx, my, mz;
float heading ;
while (true) {
mag.getHeading(&mx, &my, &mz);
heading = atan2(my, mx) * 180 / PI;
printf(" mx: %d my: %d mz: %d heading: %3.1f deg\r", mx, my, mz, heading);
fflush(stdout);
bcm2835_delay(200);
}
return 1;
}示例11: main
int main(int argc, char **argv)
{
const char *fileName = "/dev/i2c-1";
int countdown = 0;
int blink = 1;
float timeStep = 83.33;
int printTerminal = 1;
int fd;// File description
string buttonInput;
float lastBlink = 0.0f;
bool isOnLED = false;
float timeStamp = 0.0f;
int delay = 0;
CTimeClass timer;
Logger logger;
ADXL345 acc;
BMP085 baro;
L3G4200D gyro;
HMC5883L compass;
GPIOClass gpioLED("17");
GPIOClass gpioButton("4");
// init GPIOs
gpioLED.export_gpio();
gpioButton.export_gpio();
gpioLED.setdir_gpio("out"); //GPIO4 set to output
gpioButton.setdir_gpio("in"); // GPIO17 set to input
// switch off LED just in case
gpioLED.setval_gpio("0");
// parse input arguments
if( argc > 1 ) {
parseArgv( countdown, blink, timeStep, printTerminal, argc, argv );
printf("c = %d, b = %d, t = %f, p = %d\n", countdown, blink, timeStep, printTerminal);
}
// init i2c
if(!init(&fd, fileName)) {
exit(1);
}
// wait for a little
usleep(100000);
// init imu
acc.init(&fd, ((int) ((1000/timeStep)+0.5)), timeStep);
baro.init(&fd);
compass.init(&fd);
gyro.init(&fd, ((int) ((1000/timeStep)+0.5)));
if( countdown > 0 ) {
waitUntilButton(gpioButton, gpioLED, countdown, blink );
}
timer.init();
if( logger.openLogFile( timeStep, timer ) == false ) {
exit( 1 );
}
printf("GO\n");
for(;;) {
// read current Time
timer.computeStartTime();
getIMUReadings( acc, baro, compass, gyro );
timer.computeTime( timeStamp );
// print data to file MATLAB: 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21
fprintf(logger.fp, "%d, %4d %4d %4d %.2f %.2f %.2f %.2f %5.3f %5.3f %5.3f %5.3f %5.3f %d %d %d %5.3f %5.3f %5.3f %5.3f %5.3f\n", ((int) timeStamp), gyro.x, gyro.y, gyro.z, compass.heading, baro.altitude, baro.pressure / 100, baro.temperature, acc.accKalman[ X ], acc.accKalman[ Y ], acc.accKalman[ Z ], acc.acc[ Z ], acc.magnitude, acc.zeroX[X], acc.zeroX[Y], acc.zeroX[Z], acc.pitch, acc.roll, acc.deriv2[X], acc.deriv2[Y], acc.deriv2[Z]);
//fprintf(logger.fp, "%d %5d %5d %5d %5.3f %5.3f %5.3f %5.3f %5.3f %5.3f\n", ((int) timeStamp), acc.raw[0], acc.raw[1], acc.raw[2], acc.acc[ 0 ], acc.acc[ 1 ], acc.acc[ 2 ], acc.accKalman[ 0 ], acc.accKalman[ 1 ], acc.accKalman[ 2 ]); //, acc.movingAverage[ 0 ], acc.movingAverage[ 1 ],acc.movingAverage[ 2 ]);
if( printTerminal == 1 ) {
printf("%d, %4d %4d %4d %.2f %.2f %.2f %.2f %5.3f %5.3f %5.3f %5.3f %5.3f %d %d %d %5.3f %5.3f\n", ((int) timeStamp), gyro.x, gyro.y, gyro.z, compass.heading, baro.altitude, baro.pressure / 100, baro.temperature, acc.accKalman[ X ], acc.accKalman[ Y ], acc.accKalman[ Z ], acc.acc[ Z ], acc.magnitude,acc.zeroX[X], acc.zeroX[Y], acc.zeroX[Z], acc.pitch, acc.roll);
}
// see if user wants to quit
gpioButton.getval_gpio(buttonInput);
// button pressed, so exit program
if( buttonInput == "0" ) {
printf("Exiting\n");
break;
}
timer.computeEndTime();
// delay in microseconds
//.........这里部分代码省略.........
示例12: ReadRawData
uint16 Comp::ReadRawData(void)
{
uint16 Temp_angle;
#ifdef ENABLE_SIMULATION
cout << "Angle from compass:" << endl;
cin >> Temp_angle;
#else
/* CONNECTION PINS FOR THIS ARE A5 PIN (I2C PIN) >> SCL ..... A4 PIN (I2C PIN) >> SCA */
//raw data so its not scaled
MagnetometerRaw raw = Compass.ReadRawAxis();
MagnetometerScaled scaled = Compass.ReadScaledAxis();
float heading = atan2(raw.YAxis, raw.XAxis);
if (heading < 0)
{
heading += 2 * PI;
}
//convert radians to degrees
Temp_angle = (uint16)(heading * 180 / M_PI);
#endif
#ifdef DEBUG
Serial.print("read compass: ");
Serial.println(Temp_angle);
#endif
return Temp_angle;
}示例13: getMotionData
void getMotionData(Datum *datum) {
acc.getAcceleration(&datum->acc.x, &datum->acc.y, &datum->acc.z);
mag.getHeading(&datum->mag.x, &datum->mag.y, &datum->mag.z);
gyr.getRotation(&datum->gyr.x, &datum->gyr.y, &datum->gyr.z);
}示例14: loop
void loop() {
long t = millis();
// put your main code here, to run repeatedly:
droid.exec(t);
#ifdef hal_beeps
beeps.exec(t);
#endif
#ifdef hal_ir
ir_update();
#endif
#ifdef hal_tft
// read joystick
int ana[2];
ana[0] = 1024 - analogRead(A1);
ana[1] = analogRead(A2);
int b0 = (digitalRead(A3) == LOW);
droid.update_joystick(ana,b0,t);
droid.update_display(t);
#endif
#ifdef hal_compass
int v[3];
compass.get_vector(v);
for(byte i=0; i<3; i++) droid.set_signal(124+i, v[i]);
/* Serial.print(v[0]); Serial.print(',');
Serial.print(v[1]); Serial.print(',');
Serial.print(v[2]); Serial.print("\n");
delay(100); */
#endif
}示例15: setup
void setup() {
// start the spi bus
#ifdef hal_spi
SPI.begin();
#endif
#ifdef hal_tft
lcd.initR(INITR_BLACKTAB); // initialize a ST7735S chip, black tab
lcd.fillScreen(ST7735_BLACK);
#endif
// initialize serial port
Serial.begin(9600);
// leonardo - wait for connection
while(!Serial) { }
#ifdef TwoWire_h
// start the i2C bus
Wire.begin();
#endif
#ifdef hal_raster
Raster.start();
#endif
#ifdef hal_compass
compass.start();
#endif
// start the droid filesystem (now we have serial)
droid.fs.start();
// center the joystick
#ifdef hal_tft
droid.joystick[0].center = 1024 - analogRead(A1);
droid.joystick[1].center = analogRead(A2);
#endif
// droid.joystick_center[0] = 1024 - analogRead(A1);
// droid.joystick_center[1] = analogRead(A2);
}