Update examples

Add IMU calibration to every example
Prompt user before performing IMU calibration
Update with new naming conventions

Author: sfe-SparkFro

examples/Example1_BasicReadings/Example1_BasicReadings.ino

@@ -27,36 +27,51 @@ void setup()
 
     Serial.println("OTOS connected!");
 
-    // Reset the tracking algorithm, making the sensor report it's at the origin
+    Serial.println("Ensure the OTOS is flat and stationary, then enter any key to calibrate the IMU");
+
+    // Clear the serial buffer
+    while (Serial.available())
+        Serial.read();
+    // Wait for user input
+    while (!Serial.available())
+        ;
+
+    Serial.println("Calibrating IMU...");
+
+    // Calibrate the IMU, which removes the accelerometer and gyroscope offsets
+    myOtos.calibrateImu();
+
+    // Reset the tracking algorithm - this resets the position to the origin,
+    // but can also be used to recover from some rare tracking errors
     myOtos.resetTracking();
 }
 
 void loop()
 {
-    // Get the latest sensor pose, which includes the x and y coordinates, plus
-    // the heading angle
-    otos_pose2d_t otosPose;
-    myOtos.getPosition(otosPose);
+    // Get the latest position, which includes the x and y coordinates, plus the
+    // heading angle
+    sfe_otos_pose2d_t myPosition;
+    myOtos.getPosition(myPosition);
 
     // Print measurement
     Serial.println();
-    Serial.println("Sensor pose:");
+    Serial.println("Position:");
     Serial.print("X (Inches): ");
-    Serial.println(otosPose.x);
+    Serial.println(myPosition.x);
     Serial.print("Y (Inches): ");
-    Serial.println(otosPose.y);
+    Serial.println(myPosition.y);
     Serial.print("Heading (Degrees): ");
-    Serial.println(otosPose.h);
+    Serial.println(myPosition.h);
 
     // 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 rapidly refresh the data
-    // Serial.print(otosPose.x);
+    // Serial.print(myPosition.x);
     // Serial.print("\t");
-    // Serial.print(otosPose.y);
+    // Serial.print(myPosition.y);
     // Serial.print("\t");
-    // Serial.println(otosPose.h);
+    // Serial.println(myPosition.h);
     // delay(10);
 }

examples/Example2_SetUnits/Example2_SetUnits.ino

@@ -26,37 +26,52 @@ void setup()
     }
 
     Serial.println("OTOS connected!");
-    
+
+    Serial.println("Ensure the OTOS is flat and stationary, then enter any key to calibrate the IMU");
+
+    // Clear the serial buffer
+    while (Serial.available())
+        Serial.read();
+    // Wait for user input
+    while (!Serial.available())
+        ;
+
+    Serial.println("Calibrating IMU...");
+
+    // Calibrate the IMU, which removes the accelerometer and gyroscope offsets
+    myOtos.calibrateImu();
+
     // Set the desired units for linear and angular measurements. Can be either
     // meters or inches for linear, and radians or degrees for angular. If not
     // set, the default is inches and degrees. Note that this setting is not
     // stored in the sensor, it's part of the library, so you need to set at the
     // start of all your programs.
-    myOtos.setLinearUnit(kOtosLinearUnitMeters);
-    // myOtos.setLinearUnit(kOtosLinearUnitInches);
-    myOtos.setAngularUnit(kOtosAngularUnitRadians);
-    // myOtos.setAngularUnit(kOtosAngularUnitDegrees);
+    myOtos.setLinearUnit(kSfeOtosLinearUnitMeters);
+    // myOtos.setLinearUnit(kSfeOtosLinearUnitInches);
+    myOtos.setAngularUnit(kSfeOtosAngularUnitRadians);
+    // myOtos.setAngularUnit(kSfeOtosAngularUnitDegrees);
 
-    // Reset the tracking algorithm, making the sensor report it's at the origin
+    // Reset the tracking algorithm - this resets the position to the origin,
+    // but can also be used to recover from some rare tracking errors
     myOtos.resetTracking();
 }
 
 void loop()
 {
-    // Get the latest sensor pose, which includes the x and y coordinates, plus
-    // the heading angle
-    otos_pose2d_t otosPose;
-    myOtos.getPosition(otosPose);
+    // Get the latest position, which includes the x and y coordinates, plus the
+    // heading angle
+    sfe_otos_pose2d_t myPosition;
+    myOtos.getPosition(myPosition);
 
     // Print measurement
     Serial.println();
-    Serial.println("Sensor pose:");
+    Serial.println("Position:");
     Serial.print("X (Meters): ");
-    Serial.println(otosPose.x, 4);
+    Serial.println(myPosition.x, 4);
     Serial.print("Y (Meters): ");
-    Serial.println(otosPose.y, 4);
+    Serial.println(myPosition.y, 4);
     Serial.print("Heading (Radians): ");
-    Serial.println(otosPose.h, 4);
+    Serial.println(myPosition.h, 4);
 
     // Wait a bit so we don't spam the serial port
     delay(500);

examples/Example3_Calibration/Example3_Calibration.ino

@@ -26,6 +26,17 @@ void setup()
     }
 
     Serial.println("OTOS connected!");
+
+    Serial.println("Ensure the OTOS is flat and stationary, then enter any key to calibrate the IMU");
+
+    // Clear the serial buffer
+    while (Serial.available())
+        Serial.read();
+    // Wait for user input
+    while (!Serial.available())
+        ;
+
+    Serial.println("Calibrating IMU...");
 
     // The IMU on the OTOS includes a gyroscope and accelerometer, which could
     // have an offset. Note that as of firmware version 1.0, the calibration
@@ -59,27 +70,29 @@ void setup()
     myOtos.setLinearScalar(1.0);
     myOtos.setAngularScalar(1.0);
 
-    // Reset the tracking algorithm, making the sensor report it's at the origin
+    // Reset the tracking algorithm - this resets the position to the origin,
+    // but can also be used to recover from some rare tracking errors
     myOtos.resetTracking();
 }
 
 void loop()
 {
-    // Get the latest sensor pose, which includes the x and y coordinates, plus
-    // the heading angle
-    otos_pose2d_t otosPose;
-    myOtos.getPosition(otosPose);
+    // Get the latest position, which includes the x and y coordinates, plus the
+    // heading angle
+    sfe_otos_pose2d_t myPosition;
+    myOtos.getPosition(myPosition);
 
     // Print measurement
     Serial.println();
-    Serial.println("Sensor pose:");
+    Serial.println("Position:");
     Serial.print("X (Inches): ");
-    Serial.println(otosPose.x);
+    Serial.println(myPosition.x);
     Serial.print("Y (Inches): ");
-    Serial.println(otosPose.y);
+    Serial.println(myPosition.y);
     Serial.print("Heading (Degrees): ");
-    Serial.println(otosPose.h);
+    Serial.println(myPosition.h);
 
     // Wait a bit so we don't spam the serial port
     delay(500);
+
 }

examples/Example4_SetOffsetAndPosition/Example4_SetOffsetAndPosition.ino

@@ -26,8 +26,23 @@ void setup()
     }
 
     Serial.println("OTOS connected!");
-    
-    // Here you can set the offset for the sensor relative to the center of the
+
+    Serial.println("Ensure the OTOS is flat and stationary, then enter any key to calibrate the IMU");
+
+    // Clear the serial buffer
+    while (Serial.available())
+        Serial.read();
+    // Wait for user input
+    while (!Serial.available())
+        ;
+
+    Serial.println("Calibrating IMU...");
+
+    // Calibrate the IMU, which removes the accelerometer and gyroscope offsets
+    myOtos.calibrateImu();
+
+    // Assuming you've mounted your sensor to a robot and it's not centered,
+    // you can specify the offset for the sensor relative to the center of the
     // robot. The units default to inches and degrees, but if you want to use
     // different units, specify them before setting the offset! Note that as of
     // firmware version 1.0, these values will be lost after a power cycle, so
@@ -37,37 +52,39 @@ void setup()
     // clockwise (negative rotation) from the robot's orientation, the offset
     // would be {-5, 10, -90}. These can be any value, even the angle can be
     // tweaked slightly to compensate for imperfect mounting (eg. 1.3 degrees).
-    otos_pose2d_t offset = {-5, 10, -90};
+    sfe_otos_pose2d_t offset = {-5, 10, -90};
     myOtos.setOffset(offset);
 
-    // Reset the tracking algorithm, making the sensor report it's at the origin
+    // Reset the tracking algorithm - this resets the position to the origin,
+    // but can also be used to recover from some rare tracking errors
     myOtos.resetTracking();
 
     // After resetting the tracking, the OTOS will report that the robot is at
-    // the origin. If you know the starting coordinates of the robot, or have
+    // the origin. If your robot does not start at the origin, or you have
     // another source of location information (eg. vision odometry), you can set
     // the OTOS location to match and it will continue to track from there.
-    otos_pose2d_t currentPosition = {0, 0, 0};
+    sfe_otos_pose2d_t currentPosition = {0, 0, 0};
     myOtos.setPosition(currentPosition);
 }
 
 void loop()
 {
-    // Get the latest robot pose, which includes the x and y coordinates, plus
-    // the heading angle
-    otos_pose2d_t robotPose;
-    myOtos.getPosition(robotPose);
+    // Get the latest position, which includes the x and y coordinates, plus the
+    // heading angle
+    sfe_otos_pose2d_t myPosition;
+    myOtos.getPosition(myPosition);
 
     // Print measurement
     Serial.println();
-    Serial.println("Robot pose:");
+    Serial.println("Position:");
     Serial.print("X (Inches): ");
-    Serial.println(robotPose.x);
+    Serial.println(myPosition.x);
     Serial.print("Y (Inches): ");
-    Serial.println(robotPose.y);
+    Serial.println(myPosition.y);
     Serial.print("Heading (Degrees): ");
-    Serial.println(robotPose.h);
+    Serial.println(myPosition.h);
 
     // Wait a bit so we don't spam the serial port
     delay(500);
+
 }

examples/Example5_VelocityAndAcceleration/Example5_VelocityAndAcceleration.ino

@@ -28,17 +28,32 @@ void setup()
     }
 
     Serial.println("OTOS connected!");
-    
-    // Reset the tracking algorithm, making the sensor report it's at the origin
+
+    Serial.println("Ensure the OTOS is flat and stationary, then enter any key to calibrate the IMU");
+
+    // Clear the serial buffer
+    while (Serial.available())
+        Serial.read();
+    // Wait for user input
+    while (!Serial.available())
+        ;
+
+    Serial.println("Calibrating IMU...");
+
+    // Calibrate the IMU, which removes the accelerometer and gyroscope offsets
+    myOtos.calibrateImu();
+
+    // Reset the tracking algorithm - this resets the position to the origin,
+    // but can also be used to recover from some rare tracking errors
     myOtos.resetTracking();
 }
 
 void loop()
 {
     // Create structs for position, velocity, and acceleration
-    otos_pose2d_t pos;
-    otos_pose2d_t vel;
-    otos_pose2d_t acc;
+    sfe_otos_pose2d_t pos;
+    sfe_otos_pose2d_t vel;
+    sfe_otos_pose2d_t acc;
 
     // These values can be read individually like so:
     myOtos.getPosition(pos);

examples/Example6_StandardDeviation/Example6_StandardDeviation.ino

@@ -26,8 +26,23 @@ void setup()
     }
 
     Serial.println("OTOS connected!");
-    
-    // Reset the tracking algorithm, making the sensor report it's at the origin
+
+    Serial.println("Ensure the OTOS is flat and stationary, then enter any key to calibrate the IMU");
+
+    // Clear the serial buffer
+    while (Serial.available())
+        Serial.read();
+    // Wait for user input
+    while (!Serial.available())
+        ;
+
+    Serial.println("Calibrating IMU...");
+
+    // Calibrate the IMU, which removes the accelerometer and gyroscope offsets
+    myOtos.calibrateImu();
+
+    // Reset the tracking algorithm - this resets the position to the origin,
+    // but can also be used to recover from some rare tracking errors
     myOtos.resetTracking();
 }
 
@@ -36,12 +51,12 @@ void loop()
     // Create structs for position and standard deviations. This example can be
     // extended to include velocity and acceleration, which have been omitted
     // for simplicity, but can be added by uncommenting the code below
-    otos_pose2d_t pos;
-    // otos_pose2d_t vel;
-    // otos_pose2d_t acc;
-    otos_pose2d_t posStdDev;
-    // otos_pose2d_t velStdDev;
-    // otos_pose2d_t accStdDev;
+    sfe_otos_pose2d_t pos;
+    // sfe_otos_pose2d_t vel;
+    // sfe_otos_pose2d_t acc;
+    sfe_otos_pose2d_t posStdDev;
+    // sfe_otos_pose2d_t velStdDev;
+    // sfe_otos_pose2d_t accStdDev;
 
     // Read the position like normal (and velocity and acceleration if desired)
     myOtos.getPosition(pos);

examples/Example7_GetVersion/Example7_GetVersion.ino

@@ -28,8 +28,8 @@ void setup()
     Serial.println("OTOS connected!");
 
     // Get the hardware and firmware version
-    otos_version_t hwVersion;
-    otos_version_t fwVersion;
+    sfe_otos_version_t hwVersion;
+    sfe_otos_version_t fwVersion;
     myOtos.getVersionInfo(hwVersion, fwVersion);
 
     // Print the hardware and firmware version

examples/Example8_SelfTest/Example8_SelfTest.ino

@@ -27,6 +27,8 @@ void setup()
 
     Serial.println("OTOS connected!");
 
+    Serial.println("The OTOS must be stationary during the self test!");
+
     // Perform the self test
     sfeTkError_t result = myOtos.selfTest();