static void Main(string[] args)
{
// This example walks through connecting to two VectorNav sensors using the
// EzAsyncData class to compare the angles between the sensors. We also do a
// pass/fail test to alert the user if they are within our target angle difference.
const float MaxAlignmentErrorInDegs = 10.0f;
// First determine which COM port your sensor is attached to and update
// the constant below. Also, if you have changed your sensor from the
// factory default baudrate of 115200, you will need to update the
// baudrate constant below as well.
const string SensorPort1 = "COM1"; // Windows format for physical and virtual (USB) serial port.
// const string SensorPort1 = "/dev/ttyS1"; // Linux format for physical serial port.
// const string SensorPort1 = "/dev/ttyUSB0"; // Linux format for virtual (USB) serial port.
const UInt32 SensorBaudrate1 = 115200;
const string SensorPort2 = "COM2";
const UInt32 SensorBaudrate2 = 115200;
// First connect to each of the sensors.
var ez1 = EzAsyncData.Connect(SensorPort1, SensorBaudrate1);
var ez2 = EzAsyncData.Connect(SensorPort2, SensorBaudrate2);
// Now display the alignment status at 5 Hz for 10 seconds.
for (var i = 0; i < 50; i++)
{
Thread.Sleep(200);
var cd1 = ez1.CurrentData;
var cd2 = ez2.CurrentData;
// First check if we have attitude data from both sensors. Using the AnyAttitude
// field of the CompositeData structure will ensure we can perform this example
// regardless if the sensors are outputting yawPitchRoll, quaternion or direction
// cosine matrix orientation data.
if (!cd1.HasAnyAttitude || !cd2.HasAnyAttitude)
{
Console.WriteLine("Attitude data from both sensors is not available.");
continue;
}
// Get the attitude data as quaternion values. They are easier to subtract from
// each other and get the rotation between the orientations.
var q1 = cd1.AnyAttitude.Quat;
var q2 = cd2.AnyAttitude.Quat;
// Get the rotation difference between the two quaternions.
var rotationDiff = q1 - q2;
// Now get the smallest single rotation angle.
var angleDiff = rotationDiff.PrincipleRotationAngleInDegs();
var passFailMsg = angleDiff > MaxAlignmentErrorInDegs ? "FAIL" : "PASS";
Console.WriteLine("Angle Diff: {0} {1}", angleDiff, passFailMsg);
}
ez1.Disconnect();
ez2.Disconnect();
}
static void Main(string[] args)
{
const string SensorPort = "COM5";
const UInt32 SensorBaudrate = 115200;
var ez = EzAsyncData.Connect(SensorPort, SensorBaudrate);
bool problem;
while (true)
{
if (ez.CurrentData.HasYawPitchRoll)
{
var cdPrev = ez.CurrentData.YawPitchRoll;
// Delay
Thread.Sleep(500);
var cdCurr = ez.CurrentData.YawPitchRoll;
problem = Math.Abs(cdCurr.Z - cdPrev.Z) >= 45 || Math.Abs(cdCurr.Y - cdPrev.Y) >= 45 || Math.Abs(cdCurr.X - cdPrev.X) >= 60;
if (problem)
{
Console.WriteLine("Problem");
}
Console.WriteLine("No Problem");
}
}
ez.Disconnect();
}
static void Main(string[] args)
{
// This example walks through using the EzAsyncData class to easily access
// asynchronous data from a VectorNav sensor at a slight performance hit which is
// acceptable for many applications, especially simple data logging.
// First determine which COM port your sensor is attached to and update
// the constant below. Also, if you have changed your sensor from the
// factory default baudrate of 115200, you will need to update the
// baudrate constant below as well.
const string SensorPort = "COM1"; // Windows format for physical and virtual (USB) serial port.
// const string SensorPort = "/dev/ttyS1"; // Linux format for physical serial port.
// const string SensorPort = "/dev/ttyUSB0"; // Linux format for virtual (USB) serial port.
const UInt32 SensorBaudrate = 115200;
// We create and connect to a sensor by the call below.
var ez = EzAsyncData.Connect(SensorPort, SensorBaudrate);
// Now let's display the latest yaw, pitch, roll data at 5 Hz for 5 seconds.
for (var i = 0; i < 25; i++)
{
Thread.Sleep(200);
// This reads the latest data that has been processed by the EzAsyncData class.
var cd = ez.CurrentData;
// Make sure that we have some yaw, pitch, roll data.
if (!cd.HasYawPitchRoll)
{
Console.WriteLine("YPR Unavailable.");
}
else
{
Console.WriteLine("Current YPR: {0}", cd.YawPitchRoll);
}
}
// Most of the asynchronous data handling is done by EzAsyncData but there are times
// when we wish to configure the sensor directly while still having EzAsyncData do
// most of the grunt work.This is easily accomplished and we show changing the ASCII
// asynchronous data output type here.
ez.Sensor.WriteAsyncDataOutputType(AsciiAsync.VNYPR);
// We can now display yaw, pitch, roll data from the new ASCII asynchronous data type.
for (var i = 0; i < 25; i++)
{
Thread.Sleep(200);
var cd = ez.CurrentData;
if (!cd.HasYawPitchRoll)
{
Console.WriteLine("YPR Unavailable.");
}
else
{
Console.WriteLine("Current YPR: {0}", cd.YawPitchRoll);
}
}
// The CompositeData structure contains some helper methods for getting data
// into various formats. For example, although the sensor is configured to
// output yaw, pitch, roll, our application might need it as a quaternion
// value. However, if we query the Quaternion field, we see that we don't
// have any data.
Console.WriteLine("HasQuaternion: {0}", ez.CurrentData.HasQuaternion);
// Uncommenting the line below will cause an exception to be thrown since
// quaternion data is not available.
// Console.WriteLine("Current Quaternion: {0}", ez.CurrentData.Quaternion);
// However, the CompositeData structure provides the AnyAttitude field
// which will perform the necessary conversions automatically.
for (var i = 0; i < 25; i++)
{
Thread.Sleep(200);
var cd = ez.CurrentData;
// Make sure that we have some attitude data.
if (!cd.HasAnyAttitude)
{
Console.WriteLine("Attitude Unavailable.");
}
else
{
Console.WriteLine("Current Quaternion: {0}", cd.AnyAttitude.Quat);
}
}
ez.Disconnect();
}
