int display_properties(CPhidgetAccelerometerHandle phid)
{
int serial_number, version, num_axes;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid,
&serial_number);
CPhidget_getDeviceVersion((CPhidgetHandle)phid,
&version);
CPhidgetAccelerometer_getAxisCount((CPhidgetAccelerometerHandle)phid,
&num_axes);
// initialise acceleration values
ros::Time begin = ros::Time::now();
acc.acceleration.clear();
acc.stamp.clear();
for (int i = 0; i < num_axes; i++) {
acc.acceleration.push_back(0);
acc.stamp.push_back(begin);
acc.stamp.push_back(begin);
acc.stamp.push_back(begin);
}
ROS_INFO("%s", ptr);
ROS_INFO("Serial Number: %d", serial_number);
ROS_INFO("Version: %d", version);
ROS_INFO("Number of axes %d", num_axes);
return 0;
}
//Display the properties of the attached phidget to the screen.
//We will be displaying the name, serial number, version of the attached device and number of Axes on the accelerometer.
int display_properties(CPhidgetHandle phid)
{
int serialNo, version;
const char* ptr;
int numAxes;
CPhidget_getDeviceType(phid, &ptr);
CPhidget_getSerialNumber(phid, &serialNo);
CPhidget_getDeviceVersion(phid, &version);
CPhidgetAccelerometer_getAxisCount((CPhidgetAccelerometerHandle)phid, &numAxes);
printf("%s\n", ptr);
printf("Serial Number: %10d\nVersion: %8d\n", serialNo, version);
printf("Number of Axes: %i\n", numAxes);
return 0;
}
int accelerometer_simple()
{
int result, numAxes;
const char *err;
//Declare an accelerometer handle
CPhidgetAccelerometerHandle accel = 0;
//create the accelerometer object
CPhidgetAccelerometer_create(&accel);
//Set the handlers to be run when the device is plugged in or opened from software, unplugged or closed from software, or generates an error.
CPhidget_set_OnAttach_Handler((CPhidgetHandle)accel, AttachHandler, NULL);
CPhidget_set_OnDetach_Handler((CPhidgetHandle)accel, DetachHandler, NULL);
CPhidget_set_OnError_Handler((CPhidgetHandle)accel, ErrorHandler, NULL);
//Registers a callback that will run if the acceleration changes by more than the Acceleration trigger.
//Requires the handle for the Accelerometer, the function that will be called,
//and an arbitrary pointer that will be supplied to the callback function (may be NULL)
CPhidgetAccelerometer_set_OnAccelerationChange_Handler(accel, accel_AccelChangeHandler, NULL);
//open the acclerometer for device connections
CPhidget_open((CPhidgetHandle)accel, -1);
//get the program to wait for an accelerometer device to be attached
printf("Waiting for accelerometer to be attached.... \n");
if((result = CPhidget_waitForAttachment((CPhidgetHandle)accel, 10000)))
{
CPhidget_getErrorDescription(result, &err);
printf("Problem waiting for attachment: %s\n", err);
return 0;
}
//Display the properties of the attached accelerometer device
display_properties((CPhidgetHandle)accel);
//read accelerometer event data
printf("Reading.....\n");
//get the number of available axes on the attached accelerometer
CPhidgetAccelerometer_getAxisCount(accel, &numAxes);
//Most accelerometers have 2 axes so we'll pre-set their sensitivity to make the data more readable
CPhidgetAccelerometer_setAccelerationChangeTrigger(accel, 0, 0.500);
CPhidgetAccelerometer_setAccelerationChangeTrigger(accel, 1, 0.500);
//If the accelerometer attached is a 3-axis, we'll set the sensitivity of the 3rd axis
if(numAxes > 2)
{
CPhidgetAccelerometer_setAccelerationChangeTrigger(accel, 2, 0.500);
}
//wait until user input is read
printf("Press any key to end\n");
getchar();
//since user input has been read, this is a signal to terminate the program so we will close the phidget and delete the object we created
printf("Closing...\n");
CPhidget_close((CPhidgetHandle)accel);
CPhidget_delete((CPhidgetHandle)accel);
//all done, exit
return 0;
}
bool attach(
CPhidgetAccelerometerHandle &phid,
int serial_number,
double sensitivity)
{
// create the object
CPhidgetAccelerometer_create(&phid);
// Set the handlers to be run when the device is
// plugged in or opened from software, unplugged or
// closed from software, or generates an error.
CPhidget_set_OnAttach_Handler((CPhidgetHandle)phid,
AttachHandler, NULL);
CPhidget_set_OnDetach_Handler((CPhidgetHandle)phid,
DetachHandler, NULL);
CPhidget_set_OnError_Handler((CPhidgetHandle)phid,
ErrorHandler, NULL);
// Registers a callback that will run if the
// acceleration changes by more than the Acceleration
// trigger.
// Requires the handle for the Accelerometer, the
// function that will be called,
// and an arbitrary pointer that will be supplied to
// the callback function (may be NULL)
CPhidgetAccelerometer_set_OnAccelerationChange_Handler(phid,
accel_AccelChangeHandler,
NULL);
//open the device for connections
CPhidget_open((CPhidgetHandle)phid, serial_number);
// get the program to wait for an accelerometer
// device to be attached
if (serial_number == -1) {
ROS_INFO("Waiting for Accelerometer Phidget to " \
"be attached....");
}
else {
ROS_INFO("Waiting for Accelerometer Phidget %d " \
"to be attached....", serial_number);
}
int result;
if((result =
CPhidget_waitForAttachment((CPhidgetHandle)phid,
10000))) {
const char *err;
CPhidget_getErrorDescription(result, &err);
ROS_ERROR("Problem waiting for attachment: %s",
err);
return false;
}
else {
// get the number of available axes on the
// attached accelerometer
int numAxes=2;
CPhidgetAccelerometer_getAxisCount(phid, &numAxes);
// set the sensitivity
for (int i = 0; i < numAxes; i++) {
CPhidgetAccelerometer_setAccelerationChangeTrigger(phid,
i,
sensitivity);
}
return true;
}
}
