text: /*
   * Author: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
   * Copyright (c) 2014 Intel Corporation.
   *
   * Permission is hereby granted, free of charge, to any person obtaining
   * a copy of this software and associated documentation files (the
   * "Software"), to deal in the Software without restriction, including
   * without limitation the rights to use, copy, modify, merge, publish,
   * distribute, sublicense, and/or sell copies of the Software, and to
   * permit persons to whom the Software is furnished to do so, subject to
   * the following conditions:
   *
   * The above copyright notice and this permission notice shall be
   * included in all copies or substantial portions of the Software.
   *
   * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
   * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
   * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
   * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
   * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
   * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
   * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
   */
  
  #include <unistd.h>
  #include <iostream>
  #include <iomanip>
  #include "rotary.hpp"
  
  using namespace std;
  
  int main ()
  {
  //! [Interesting]
      // Instantiate a rotary sensor on analog pin A0
      upm::Rotary* knob = new upm::Rotary(0);
  
      // Print sensor name to confirm it initialized properly
      cout << knob->name() << endl;
  
      while(true) {
          float abs_value = knob->abs_value(); // Absolute raw value
          float abs_deg = knob->abs_deg();     // Absolute degrees
          float abs_rad = knob->abs_rad();     // Absolute radians
          float rel_value = knob->rel_value(); // Relative raw value
          float rel_deg = knob->rel_deg();     // Relative degrees
          float rel_rad = knob->rel_rad();     // Relative radians
  
          fprintf(stdout, "Absolute: %4d raw %5.2f deg = %3.2f rad Relative: %4d raw %5.2f deg %3.2f rad\n",
                  (int16_t)abs_value, abs_deg, abs_rad, (int16_t)rel_value, rel_deg, rel_rad);
  
          usleep(2500000); // Sleep for 2.5s
      }
  //! [Interesting]
      delete knob;
      return 0;
  }
  