Examples with CalibratedAccelerometer com.robo4j.hw.rpi.i2c.accelerometer.CalibratedAccelerometer used on opensource projects

Example 1 with CalibratedAccelerometer

use of com.robo4j.hw.rpi.i2c.accelerometer.CalibratedAccelerometer in project robo4j by Robo4J.

the class AccelerometerLSM303Unit method onInitialization.

@Override
protected void onInitialization(Configuration configuration) throws ConfigurationException {
    super.onInitialization(configuration);
    PowerMode powerMode = PowerMode.valueOf(configuration.getString(PROPERTY_KEY_POWER_MODE, PowerMode.NORMAL.name()));
    DataRate rate = DataRate.valueOf(configuration.getString(PROPERTY_KEY_RATE, DataRate.HZ_10.name()));
    Integer axisEnable = configuration.getInteger(PROPERTY_KEY_AXIS_ENABLE, AccelerometerLSM303Device.AXIS_ENABLE_ALL);
    FullScale fullScale = FullScale.valueOf(configuration.getString(PROPERTY_KEY_FULL_SCALE, FullScale.G_2.name()));
    Boolean enableHighRes = configuration.getBoolean(PROPERTY_KEY_ENABLE_HIGH_RES, false);
    Float3D offsets = readFloat3D(configuration.getChildConfiguration("offsets"));
    Float3D multipliers = readFloat3D(configuration.getChildConfiguration("multipliers"));
    period = configuration.getInteger(PROPERTY_KEY_PERIOD, 200);
    try {
        AccelerometerLSM303Device device = new AccelerometerLSM303Device(getBus(), getAddress(), powerMode, rate, axisEnable, fullScale, enableHighRes);
        accelerometer = new CalibratedAccelerometer(device, offsets, multipliers);
    } catch (IOException e) {
        throw new ConfigurationException(String.format("Failed to initialize lidar device. Make sure it is hooked up to bus: %d address: %xd", getBus(), getAddress()), e);
    }
}