com.diozero.imu.drivers.invensense.GyroFullScaleRange Maven / Gradle / Ivy
package com.diozero.imu.drivers.invensense;
/*
* #%L
* Organisation: mattjlewis
* Project: Device I/O Zero - IMU device classes
* Filename: GyroFullScaleRange.java
*
* This file is part of the diozero project. More information about this project
* can be found at http://www.diozero.com/
* %%
* Copyright (C) 2016 - 2017 mattjlewis
* %%
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
* #L%
*/
/* Full scale ranges. */
public enum GyroFullScaleRange {
INV_FSR_250DPS((byte)0, 250/*, 131*/),
INV_FSR_500DPS((byte)1, 500/*, 65.5*/),
INV_FSR_1000DPS((byte)2, 1000/*, 32.8*/),
INV_FSR_2000DPS((byte)3, 2000/*, 16.4*/);
private byte val;
private byte bitVal;
private int dps;
private double sensitivityScaleFactor;
private double gyroScale;
private GyroFullScaleRange(byte val, int dps) {
this.val = val;
bitVal = (byte)(val << 3);
this.dps = dps;
this.sensitivityScaleFactor = MPU9150Constants.HARDWARE_UNIT / (double)dps;
//gyroScale = Math.PI / (sensitivityScaleFactor*180);
gyroScale = 1.0 / sensitivityScaleFactor;
}
public byte getVal() {
return val;
}
public byte getBitVal() {
return bitVal;
}
public int getDps() {
return dps;
}
public double getSensitivityScaleFactor() {
return sensitivityScaleFactor;
}
public double getScale() {
return gyroScale;
}
}