lejos.hardware.sensor.CruizcoreGyro Maven / Gradle / Ivy
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package lejos.hardware.sensor;
import lejos.hardware.port.I2CPort;
import lejos.hardware.port.Port;
import lejos.utility.Delay;
import lejos.utility.EndianTools;
/**
* Micro Infinity Cruizcore XG1300L
* The XG1300L is a fully self-contained digital MEMS gyroscope and
* accelerometer.
*
* The code for this sensor has not been tested. Please report test results to
* the leJOS forum.
*
*
*
*
*
*
*
* Supported modes
*
*
* Mode name
* Description
* unit(s)
* Getter
*
*
*
* Acceleration
* Measures linear acceleration over three axes
* {@link #getAccelerationMode() }
*
*
* Rate
* Rate
* Measures rate of turn over the Z-axis
* {@link #getRateMode() }
*
*
* Angle
* Measures angle over the Z-axis
* {@link #getAngleMode() }
*
*
*
*
*
*
*
* See
* Sensor datasheet
* See
* Sensor Product page
* See The
* leJOS sensor framework
* See {@link lejos.robotics.SampleProvider leJOS conventions for
* SampleProviders}
*
*
*
*
* @author Daniele Benedettelli
*
*/
public class CruizcoreGyro extends I2CSensor {
/*
* Documentation can be obtained here:
* http://www.minfinity.com/Manual/CruizCore_XG1300L_User_Manual.pdf The
* documentation and the conversion in the NXC sample code indicate, that
* 16bit signed little endian values are returned.
*/
private byte[] inBuf = new byte[11];
private static final byte GYRO_ADDRESS = 0x02;
// values returned are signed short integers multiplied by 100
private static final byte ANGLE = 0x42; // 0x43 (2 Bytes)
private static final byte RATE = 0x44; // 0x45 (2 Bytes)
private static final byte ACCEL_X = 0x46; // 0x47 (2 Bytes)
// private static
// final
// byte ACCEL_Y =
// 0x48;
// // 0x49 (2 Bytes)
// private static
// final
// byte ACCEL_Z =
// 0x4A;
// // 0x4B (2 Bytes)
// the commands are issued by just reading these registers
private static final byte RESET = 0x60;
private static final byte SELECT_SCALE = 0x61;
private float scale;
/**
* Instantiates a new Cruizcore Gyro sensor.
*
* @param port
* the port the sensor is attached to
*/
public CruizcoreGyro(I2CPort port) {
super(port, GYRO_ADDRESS);
init();
}
public CruizcoreGyro(Port port) {
super(port, GYRO_ADDRESS);
init();
}
protected void init() {
setAccScale2G();
setModes(new SensorMode[] { new AccelerationMode(), new RateMode(), new AngleMode() });
}
/**
* Sets the acc scale.
*
* @param sf
* the scale factor: 0 for +/- 2G, 1 for +/- 4G, 2 for +/- 8g
* @throws IllegalArgumentException
* if the parameter is neither 0, 1, or 2.
*/
public void setAccScale(int sf) {
if (sf < 0 || sf > 2)
throw new IllegalArgumentException();
// TODO we write one byte too many (the zero).
// The driver should perform a zero length write to register SELECT_SCALE + sf.
sendData(SELECT_SCALE + sf, (byte) 0);
scale = 0.00981f * (1 << sf);
}
/**
* Sets the acceleration scale factor to 2G.
*/
public void setAccScale2G() {
setAccScale((byte) 0);
}
/**
* Sets the acceleration scale factor to 4G.
*/
public void setAccScale4G() {
setAccScale((byte) 1);
}
/**
* Sets the acceleration scale factor to 8G.
*/
public void setAccScale8G() {
setAccScale((byte) 2);
}
/**
* Resets the accumulated angle (heading).
*
*/
public void reset() {
sendData(RESET, (byte) 0);
Delay.msDelay(750);
}
/**
* Cruizcore XG1300L, Acceleration mode
* Measures linear acceleration over three axes
*
*
* Size and content of the sample
* The sample contains 3 elements. Each element gives linear acceleration
* (in metres/second^2). Axis order in sample is X, Y, Z.
*
*
* Configuration
* The sensor can be configured for range using the setAccScale#G() methods
* of the sensor class.
*
* @return A sampleProvider
* See {@link lejos.robotics.SampleProvider leJOS conventions for
* SampleProviders}
* See
* Sensor datasheet
*/
public SensorMode getAccelerationMode() {
return getMode(0);
}
private class AccelerationMode implements SensorMode {
@Override
public int sampleSize() {
return 3;
}
@Override
public void fetchSample(float[] sample, int offset) {
getData(ACCEL_X, inBuf, 6);
sample[0 + offset] = EndianTools.decodeShortLE(inBuf, 2) * scale;
sample[1 + offset] = EndianTools.decodeShortLE(inBuf, 0) * scale;
sample[2 + offset] = -EndianTools.decodeShortLE(inBuf, 4) * scale;
}
@Override
public String getName() {
return "Acceleration";
}
}
/**
* Cruizcore XG1300L, Acceleration mode
* Measures rate of turn over the Z-axis
*
*
* Size and content of the sample
* The sample contains one element, the rate of turn (in degrees / second)
* over the Z-axis.
*
*
* Configuration
* There are no configurable parameters.
*
* @return A sampleProvider
* See {@link lejos.robotics.SampleProvider leJOS conventions for
* SampleProviders}
* See
* Sensor datasheet
*/
public SensorMode getRateMode() {
return getMode(1);
}
private class RateMode implements SensorMode {
@Override
public int sampleSize() {
return 1;
}
@Override
public void fetchSample(float[] sample, int offset) {
getData(RATE, inBuf, 2);
sample[offset] = -EndianTools.decodeShortLE(inBuf, 0) / 100f;
}
@Override
public String getName() {
return "Rate";
}
}
/**
* Cruizcore XG1300L, Angle mode
* Measures angle over the Z-axis
*
*
* Size and content of the sample
* The sample contains one element, the accumulated angle (in degrees). .
*
*
* Configuration
* The accumulated angle can be reset to zero using the reset() method of
* the sensor class.
*
* @return A sampleProvider
* See {@link lejos.robotics.SampleProvider leJOS conventions for
* SampleProviders}
* See
* Sensor datasheet
*/
public SensorMode getAngleMode() {
return getMode(2);
}
private class AngleMode implements SensorMode {
@Override
public int sampleSize() {
return 1;
}
@Override
public void fetchSample(float[] sample, int offset) {
getData(ANGLE, inBuf, 2);
sample[offset] = 360 - EndianTools.decodeShortLE(inBuf, 0) / 100f;
}
@Override
public String getName() {
return "Angle";
}
}
}