ex_HTGyroTest.nxc

This is an example of how to use the SetSensorHTGyro, SensorHTGyro, Wait, TextOut, NumOut, and ButtonPressed functions.

//=============================================================================
// HiTechnic Gyro Test
//
#define GYRO   IN_1

#define SAMPLESIZE 100

task main()
{
  int i, y, d;
  int v, offset;

  float gyroAvg, gyroSum = 0;

  int data[SAMPLESIZE];
  int cSet[7];

  SetSensorHTGyro(GYRO);

  // Let user get finger off start button before starting sampling
  Wait(1000);

  for (i=0; i<SAMPLESIZE; i++) {
    v = SensorHTGyro(GYRO);
    data[i] = v;
    gyroSum += v;
    Wait(4);
  }

  // Display floating point gyro average
  gyroAvg = gyroSum/SAMPLESIZE;
  TextOut(0, LCD_LINE1, "Avg:     ");
  NumOut(6*4, LCD_LINE1, gyroAvg);

  // Round to nearest int
  offset = gyroAvg+0.5;
  
  // Go through sample set and see how many are
  // offset-3, offset-2, offset-1, offset, offset+1, offset+2, offset+3
  for (i=0; i<SAMPLESIZE; i++) {
    d = data[i] - offset;
    if (d < -3) d = -3;
    if (d > 3) d = 3;
    d += 3;
    cSet[d]++;
  }
  
  // Display on the screen now many of each value was in the sample
  y = LCD_LINE2;
  for (i=0; i<7; i++) {
    if (i==0)
      TextOut(0, y, "<=   :");
    else if (i==6)
      TextOut(0, y, ">=   :" );
    else
      TextOut(0, y, "==   :");
    NumOut(6*2, y, offset+i-3);
    NumOut(6*6, y, cSet[i]);
    
    y-= 8;
  }

  // Keep display on screen until button pressed
  until(ButtonPressed(BTNCENTER, false)) Wait(100);
}