Add initial implementation and first example

Author: sfe-SparkFro

examples/Example01_BasicUsage/Example01_BasicUsage.ino

@@ -0,0 +1,67 @@
+#include "SparkFun_Qwiic_OTOS_Arduino_Library.h"
+#include "Wire.h"
+
+// Create an OTOS object
+QwiicOTOS myOtos;
+
+void setup()
+{
+    // Start serial
+    Serial.begin(115200);
+    Serial.println("Qwiic OTOS Example 1 - Basic Readings");
+
+    Wire.begin();
+
+    // Attempt to begin the sensor
+    while (myOtos.begin() == false)
+    {
+        Serial.println("OTOS not connected, check your wiring and I2C address!");
+        delay(1000);
+    }
+
+    Serial.println("OTOS connected!");
+
+    // The IMU on the OTOS includes a gyroscope and accelerometer, which could
+    // have an offset. This needs to be calibrated out in order to get accurate
+    // tracking, which must be done while the OTOS is stationary and flat!
+    Serial.println("Calibrating IMU...");
+    myOtos.calibrateImu();
+
+    // We'll also reset the tracking to start at the origin
+    Serial.println("Resetting pose...");
+    otos_pose2d_t currentPose = {0, 0, 0};
+    myOtos.setPosition(currentPose);
+
+    myOtos.setLinearUnit(kOtosLinearUnitInches);
+    myOtos.setAngularUnit(kOtosAngularUnitDegrees);
+}
+
+void loop()
+{
+    // Get latest pose from sensor, which includes the x and y coordinates, plus
+    // the heading angle
+    otos_pose2d_t otosPose;
+    myOtos.getPosition(otosPose);
+
+    // Print measurement
+    Serial.println();
+    Serial.println("Current pose:");
+    Serial.print("X (Meters): ");
+    Serial.println(otosPose.x, 3);
+    Serial.print("Y (Meters): ");
+    Serial.println(otosPose.y, 3);
+    Serial.print("Heading (Radians): ");
+    Serial.println(otosPose.h, 3);
+
+    // Wait a bit so we don't spam the serial port
+    delay(500);
+
+    // Alternatively, you can comment out the print and delay code above, and
+    // instead use the following code to refresh the data more quickly
+    // Serial.print(otosPose.x, 3);
+    // Serial.print(", ");
+    // Serial.print(otosPose.y, 3);
+    // Serial.print(", ");
+    // Serial.println(otosPose.h, 3);
+    // delay(10);
+}

examples/Example1_BasicReadings/Example1_BasicReadings.ino

@@ -1,9 +1,9 @@
-name=SparkFun Template Arduino Library
+name=SparkFun Qwiic OTOS Arduino Library
 version=1.0.0
 author=SparkFun Electronics <techsupport@sparkfun.com>
 maintainer=SparkFun Electronics <sparkfun.com>
-sentence=TODO: Add short description
-paragraph=TODO: Add long description
-category=TODO: Add category (Sensors, Display, Communication, etc.)
-url=TODO: Add URL
-architectures=TODO: Add architectures (*, esp32, teensy, stm32, megaavr, etc.)
+sentence=A library to use the SparkFun Qwiic Optical Tracking Odometry Sensor
+paragraph=
+category=Sensors
+url=https://github.com/sparkfun/SparkFun_Qwiic_OTOS_Arduino_Library
+architectures=*

library.properties

@@ -0,0 +1,31 @@
+#pragma once
+
+#include "Arduino.h"
+#include "sfeQwiicOtos.h"
+#include <Wire.h>
+
+class QwiicOTOS : public sfeQwiicOtos
+{
+  public:
+    /// @brief Begins the Qwiic Ultrasonic sensor
+    /// @param address I2C device address to use for the sensor
+    /// @param wirePort Wire port to use for I2C communication
+    /// @return True if successful, false otherwise
+    bool begin(uint8_t address = kOtosDefaultAddress, TwoWire &wirePort = Wire)
+    {
+        // Setup Arduino I2C bus
+        _theI2CBus.init(wirePort, address);
+
+        // Begin the sensor
+        return sfeQwiicOtos::begin(&_theI2CBus) == kSTkErrOk;
+    }
+
+  protected:
+    void delayMs(uint32_t ms)
+    {
+        delay(ms);
+    }
+
+  private:
+    sfeTkArdI2C _theI2CBus;
+};