Example code for using the JoyWarrior56FR1 on Windows based systems by using various APIs and programming languages.
The JoyWarrior56FR1 is an acceleration sensor with an USB interface, with 6 axis (acceleration and angular rate), and 8 digital inputs. It may be used for motion, vibration, or orientation sensing. For more detailed information please visit the product page.
The JoyWarrior56FR1 will send 13 bytes of data to the host every 2ms. The resolution for each axis is 16 bit, the data format will be LSB first.
| B0 + B1 | B2 + B3 | B4 + B5 | B6 + B7 | B8 + B9 | B10 + B11 | B12 |
|---|---|---|---|---|---|---|
| X | Y | Z | rX | rY | rZ | 8bit input |
To get the 16 Bit value using the following formula:
X = (B1 << 8) | B0
Because the JoyWarrior56FR1 is a joystick device, the data will have an offset of 0x7FFF (32767) to center the axis. To get an positiv and negativ result you have to decrease the axe value by 0x7FFF each.
JoyWarrior56FR1 will have its zero/middle position at 32767, the negative maximum at 0, and the positive maximum at 65535. To obtain positive and/or negative values, you have to subtract 32767 from the axis. A variety of conversion factors are required based on the default settings of the sensor.
Acceleration:
2G: 0.061
4G: 0.122
8G: 0.244
16G: 0.488
Gyroscope:
125 dps: 4.375
245 dps: 8.75
500 dps: 17.50
1000 dps: 35.00
2000 dps: 70.00
To obtain a readable value, the following formula must be used (Z acceleration for example):
Z_g = (Z_acc - offset) * nG
Z_g = (16218 - 32767) * 0.061
Z_g = -1.009 G
The JoyWarrior56FR1 can be configured with some parameters. For more information about the parameters please take a look into the Datasheet.
For some of the example projecte we are using 3rd party software and API like LibUSB. Please take care about the license about each API.
We provide some code examples for the JoyWarrior56FR1 by using the LibUSB API for cummunication. You can find the repository here.
Product site for more informations, datasheets, and software/tools for the JoyWarrior56FR1 devices
Company site for information on more devices.
If you have any questions about the IO-Warrior please contact support@codemercs.com or using the issues section in this repository. There is also a company forum with many solved questions.