DMURateGyro.cpp

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/************************************************************************************************/
/*! \file DMURateGyro.cpp
*  \brief The DMURateGyro class provides the interface for h/w DMU rate gyros.
*  \author $Author: jayhawk_hokie $
*  \version $Revision: 1.11 $
*  \date    $Date: 2007/08/07 18:55:26 $
************************************************************************************************/
/*! 
*
************************************************************************************************/
#include <string.h>
#include "DMURateGyro.h"

/*! \brief DMURateGyro constructor
        * @ param handle XML handle with current whorl as starting node
        * @ param rateGyro rate gyro name as given in xml config file
*/

DMURateGyro::DMURateGyro(TiXmlHandle handle, string rateGyro) 
{
        int response; // error checking for parsing

        // parse xml file to get rate gyro data

        TiXmlHandle rgHandle = handle.FirstChild("HARDWARE_PROPERTIES").FirstChild("DMU_RATE_GYRO").FirstChild(rateGyro);

        response = rgHandle.Child("ChannelID", 0).Element() -> QueryIntAttribute("value", &m_channelID);
        checkResponse(response);
        response = rgHandle.Child("Mode",0).Element() -> QueryIntAttribute("value", &m_mode);
        checkResponse(response);
        response = rgHandle.Child("Offset",0).Element() -> QueryFloatAttribute("value", &m_offset);
        checkResponse(response);
        response = rgHandle.Child("ScaleFactor",0).Element() -> QueryFloatAttribute("value", &m_rateScaleFactor);

        if (Initialize() != 0 )
        {
                cerr << " error, DMURateGyro::Initialize() is not happy " << endl;
        }
        else
        {
                // Having Problems with first several samples for the Rate gyros on Whorl-I, temp fix. 8-7-07 SAK
                double temp;
                for( int i=0; i<10; i++ )
                {
                        temp = GetMeasurement( ).GetAsDouble( );
                        //cerr << "Rate Voltage: " << GetMeasurement( ).GetAsDouble( ) << endl;
                }
                cerr << "\nSensor Set: " << rateGyro << endl;
        }
};

// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: DMURateGyro.cpp,v $
*       Revision 1.11  2007/08/07 18:55:26  jayhawk_hokie
*       Rate Sample reading issue.
*       
*       Revision 1.10  2007/05/22 18:21:11  jayhawk_hokie
*       *** empty log message ***
*       
*       Revision 1.9  2007/01/12 20:25:31  bwilliam
*       Modified to use XML parser.
*       
*       Revision 1.8  2005/04/26 17:20:38  cakinli
*       Updated Makefiles to build a single libdsacss.a in the src directory to alleviate linking issues with the multiple, per-directory libraries.
*       
*       Revision 1.7  2004/05/27 19:07:28  shoemaker
*       Made changes corresponding to new daq card settings and calibration methods
*       
*       Revision 1.6  2004/04/11 19:33:25  shoemaker
*       Fixed bugs in analog code and cleaned up random messages
*       
*       Revision 1.5  2004/04/08 06:07:08  shoemaker
*       Added analog MoPak calibration routines
*       
*       Revision 1.4  2004/03/29 16:43:11  shoemaker
*       Added code to work with analog DAQ card code
*       
*       Revision 1.3  2003/08/18 19:15:32  mavandyk
*       Changed config parsing
*       
*       Revision 1.2  2003/08/13 23:19:53  mavandyk
*       Fixed a few lines that had warnings.
*       
*       Revision 1.1  2003/08/06 21:41:54  mavandyk
*       Added config parsing.
*       
*       Revision 1.4  2003/07/18 17:22:13  shoemaker
*       Now uses Measurement class.  Still has timing and data-wasting issues.
*       
*       Revision 1.3  2003/07/03 16:54:50  shoemaker
*       Added semi-working versions of DMU code
*       
*       Revision 1.2  2003/06/26 20:12:08  mavandyk
*       Added code to inline functions for the calls to the DMU class.
*       
*       Revision 1.1  2003/06/25 21:49:23  mavandyk
*       Alter architechture of class structure.
*       
*       Revision 1.1.1.1  2003/06/06 18:44:15  simpliciter
*       Initial submission.
*       
*
******************************************************************************/

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