navXRawOp.java

/* Copyright (c) 2014, 2015 Qualcomm Technologies Inc

All rights reserved.

Redistribution and use in source and binary forms, with or without modification,
are permitted (subject to the limitations in the disclaimer below) provided that
the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list
of conditions and the following disclaimer.

Redistributions in binary form must reproduce the above copyright notice, this
list of conditions and the following disclaimer in the documentation and/or
other materials provided with the distribution.

Neither the name of Qualcomm Technologies Inc nor the names of its contributors
may be used to endorse or promote products derived from this software without
specific prior written permission.

NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */

package com.qualcomm.ftcrobotcontroller.opmodes;

import com.kauailabs.navx.ftc.AHRS;
import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.util.ElapsedTime;

import java.text.DecimalFormat;

/**
 * navXRawOp
 * <p>
 * This sample demonstrates how to acquire the raw
 * Gyroscope, Accelerometer and Magnetometer data.  This raw
 * data is typically not as useful as the "processed" data
 * (see the navXProcessedOp for details), however is provided
 * for those interested in accessing the raw data.
 *
 * Gyroscope data is units of Degrees/second.
 * Accelerometer data is in units of G.
 * Magnetometer data is in units if microTorr (uT)
 *
 * Magnetometer data is not valid unless magnetometer calibration
 * has been performed.  Without calibration, the magnetometer
 * data will be all zeros.  For details on how to calibrate the
 * magnetometer, please see the Magnetometer Calibration documentation:
 * http://navx-micro.kauailabs.com/guidance/magnetometer-calibration/
 *
 * Note that due to limitations imposed by the Core Device
 * Interface Module's I2C interface mechanisms, the acquisition
 * of both processed data and raw data requires two separate
 * I2C bus transfers, and thus takes longer than acquiring
 * only the raw or only the processed data.
 */
public class navXRawOp extends OpMode {

  private final int NAVX_DIM_I2C_PORT = 0;
  private String startDate;
  private ElapsedTime runtime = new ElapsedTime();
  private AHRS navx_device;
  @Override
  public void init() {
      navx_device = AHRS.getInstance(hardwareMap.deviceInterfaceModule.get("dim"),
              NAVX_DIM_I2C_PORT,
              AHRS.DeviceDataType.kQuatAndRawData);  }

  @Override
  public void stop() {
    navx_device.close();
  }
  /*
     * Code to run when the op mode is first enabled goes here
     * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#start()
     */
  @Override
  public void init_loop() {
    telemetry.addData("navX Op Init Loop", runtime.toString());
  }

  /*
   * This method will be called repeatedly in a loop
   * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#loop()
   */
  @Override
  public void loop() {

      boolean connected = navx_device.isConnected();
      telemetry.addData("1 navX-Device", connected ? "Connected" : "Disconnected" );
      String gyrocal, gyro_raw, accel_raw, mag_raw;
      boolean magnetometer_calibrated;
      if ( connected ) {
          DecimalFormat df = new DecimalFormat("#.##");
          magnetometer_calibrated = navx_device.isMagnetometerCalibrated();
          gyro_raw = df.format(navx_device.getRawGyroX()) + ", " +
                      df.format(navx_device.getRawGyroY()) + ", " +
                      df.format(navx_device.getRawGyroZ());
          accel_raw = df.format(navx_device.getRawAccelX()) + ", " +
                      df.format(navx_device.getRawAccelY()) + ", " +
                      df.format(navx_device.getRawAccelZ());
          if ( magnetometer_calibrated ) {
              mag_raw = df.format(navx_device.getRawMagX()) + ", " +
                      df.format(navx_device.getRawMagY()) + ", " +
                      df.format(navx_device.getRawMagZ());
          } else {
              mag_raw = "Uncalibrated";
          }
      } else {
        gyro_raw =
            accel_raw =
            mag_raw = "-------";
      }
      telemetry.addData("2 Gyros (Degrees/Sec):", gyro_raw);
      telemetry.addData("3 Accelerometers  (G):", accel_raw );
      telemetry.addData("4 Magnetometers  (uT):", mag_raw );
  }

}