sensorMonitor.cpp

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file sensorMonitor.cpp
*  \brief Access measurements from accelerometer, gyros, and magnetometer. 
*  \author $Author: jayhawk_hokie $
*  \version $Revision: 1.2 $
*  \date    $Date: 2007/08/31 15:45:13 $
*//////////////////////////////////////////////////////////////////////////////////////////////////
/*! 
*/
//////////////////////////////////////////////////////////////////////////////////////////////////

#include <iostream>
#include "Base/Whorl.h"
#include "dsacssinterface.h"
#include "rotation/Rotation.h"

using namespace std;
using namespace O_SESSAME;

int main()
{
        /* Specify Configuration Document */
        TiXmlDocument config("DSACSSConfig.xml");
        /* Load Configuration Document */
        bool loadOk = config.LoadFile();
        checkLoadFile(loadOk, "DSACSSConfig.xml", config);
        /* Create Configuation Handle */
        TiXmlHandle handle(&config);

        /* Create whorl object */
        Whorl whorl;

        /* Initialize Whorl Object */
        whorl.Initialize(handle);
        
        /* Create measurement Vectors */
        Vector accel(3);
        Vector rates(3); 
        Vector mag(3);  

        /* Endless loop */
        // Todo: Allow user to terminate program from key stroke. (not 'cntrl c') Perhaps multiple threads. 
        while(1)
        {
        sleep(2);

                /* Get Accelerometer measurements [m/s^2] */
                accel(1) = whorl.GetAccelerometer("ACC_X") -> GetMeasurement().GetAsDouble();
                accel(2) = whorl.GetAccelerometer("ACC_Y") -> GetMeasurement().GetAsDouble();
                accel(3) = whorl.GetAccelerometer("ACC_Z") -> GetMeasurement().GetAsDouble();

                /* Get angular rate gyro measurements [rad/s] */
                rates(1) = whorl.GetRateGyro("RATE_GYRO_X") -> GetMeasurement().GetAsDouble();
                rates(2) = whorl.GetRateGyro("RATE_GYRO_Y") -> GetMeasurement().GetAsDouble();
                rates(3) = whorl.GetRateGyro("RATE_GYRO_Z") -> GetMeasurement().GetAsDouble();

                /* Get Magnetometer measurements [counts] */
                mag = whorl.GetMagnetometer() -> GetVectorMeasurement();

                /* Output Values to Screen */
                cerr << "Acceleration: " << ~accel << endl;
                cerr << "Angular Rates: " << ~rates << endl;
                cerr << "Magnetometer reading: " << ~mag << endl;

                /* Get angular rate gyro measurements [rad/s] */
                rates(1) = whorl.GetRateGyro("RATE_GYRO_X") -> GetMeasurement().GetAsDouble();
                rates(2) = whorl.GetRateGyro("RATE_GYRO_Y") -> GetMeasurement().GetAsDouble();
                rates(3) = whorl.GetRateGyro("RATE_GYRO_Z") -> GetMeasurement().GetAsDouble();
                cerr << "Angular Rates: " << ~rates << endl;
                
                /* Pause */
                usleep(100000);
        }
        return( 0 );    
}

// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: sensorMonitor.cpp,v $
*       Revision 1.2  2007/08/31 15:45:13  jayhawk_hokie
*       Updated
*
*       Revision 1.1  2007/07/24 09:57:42  jayhawk_hokie
*       Initial Submission.
*
*       
*
******************************************************************************/

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