/// <summary>
/// Initializes the Gyro.
/// </summary>
/// <param name="triggeringAxis">
/// The gyro that represents the single axis responsible for
/// the triggering of updates.
/// </param>
/// <param name="mode">
/// The gyro update trigger mode.
/// </param>
/// <returns>
/// Reference to the specified triggering axis, which may or may
/// not have been modified.
/// </returns>
/// <exception cref="System.IO.IOException">
/// Unable to write to gyro.
/// </exception>
/// <exception cref="ObjectDisposedException">
/// This instance has been disposed.
/// </exception>
public IGyroscope Init(IGyroscope triggeringAxis, GyroTriggerMode mode)
{
this.Enable();
if (triggeringAxis == this.aX)
{
this.aX.SetReadTrigger(mode);
}
else
{
this.aX.SetReadTrigger(GyroTriggerMode.ReadNotTriggered);
}
if (triggeringAxis == this.aY)
{
this.aY.SetReadTrigger(mode);
}
else
{
this.aY.SetReadTrigger(GyroTriggerMode.ReadNotTriggered);
}
if (triggeringAxis == this.aZ)
{
this.aZ.SetReadTrigger(mode);
}
else
{
this.aZ.SetReadTrigger(GyroTriggerMode.ReadNotTriggered);
}
return(triggeringAxis);
}
public MainViewModel(IAccelerometer accelerometer = null,
IGyroscope gyroscope = null,
IMagnetometer magnetometer = null,
ICompass compass = null,
IAmbientLight ambientLight = null,
IBarometer barometer = null,
IPedometer pedometer = null,
IProximity proximity = null,
IHeartRateMonitor heartRate = null,
IHumidity humidity = null,
ITemperature temperature = null)
{
this.Sensors = new List <ISensorViewModel>();
this.AddIf(accelerometer, "G");
this.AddIf(gyroscope, "G");
this.AddIf(magnetometer, "M");
this.AddIf(compass, "D");
this.AddIf(ambientLight, "Light");
this.AddIf(barometer, "Pressure");
this.AddIf(pedometer, "Steps");
this.AddIf(proximity, "Near");
this.AddIf(heartRate, "Heart Rate (bpm)");
this.AddIf(humidity, "Humidity");
this.AddIf(temperature, "Temp");
}
/// <summary>
/// Creates an instance of <see cref="WindowsDevice" />.
/// </summary>
public WindowsDevice()
{
_display = new Display();
_battery = new Battery();
Query();
try
{
var result = Windows.Devices.Sensors.Accelerometer.GetDefault();
if (result != null)
{
_accelerometer = new Accelerometer();
}
}
catch (Exception)
{
}
try
{
var result = Windows.Devices.Sensors.Gyrometer.GetDefault();
if (result != null)
{
_gyroscope = new Gyroscope();
}
}
catch (Exception)
{
}
}
/// <summary>
/// Standard constructor of the Core class
/// </summary>
public Core()
{
m_pServoController = new PCA9685();
m_pAccelerometer = new LSM303DLHC();
m_pGyroscope = new L3GD20H();
m_pTelemetryClient = new Client();
m_pRemoteControl = new NetworkRemoteControl();
}
public SensorGroup(ISuperSonic sonic, IGyroscope gyrescope)
{
Sonic = sonic;
Gyroscope = gyrescope;
Gyroscope.Initialize();
Gyroscope.GyroscopeUpdate += Gyroscope_OnInterrupt;
}
public ComplementaryFilter(IAccelerometer accelerometer, IGyroscope gyroscope, int samplePeriodMs = 10, bool usePerformanceTimer = false)
{
this.accel = accelerometer;
this.gyro = gyroscope;
accelPoller = new Poller<IAccelerometer>(accelerometer, samplePeriodMs, usePerformanceTimer);
accelPoller.OnSensorValueChanged += PollerEvent;
if (accelerometer != gyroscope) // if we have two different sensors
{
gyroPoller = new Poller<IAccelerometer>(accelerometer, samplePeriodMs, usePerformanceTimer);
gyroPoller.OnSensorValueChanged += PollerEvent;
}
}
public TankDriveShaftEncodersAndYawGyroscopeBasedPositionTracker(
string name,
IGyroscope gyroscope,
IIncrementalRotaryEncoder leftShaftEncoder,
IIncrementalRotaryEncoder rightShaftEncoder,
float wheelMetersPerShaftRadian
)
: base(name, DeviceType.PositionTracker)
{
this.gyroscope = gyroscope;
this.leftShaftEncoder = leftShaftEncoder;
this.rightShaftEncoder = rightShaftEncoder;
this.wheelMetersPerShaftRadian = wheelMetersPerShaftRadian;
}
public TankDriveShaftEncodersAndYawGyroscopeBasedPositionTracker(
string name,
IGyroscope gyroscope,
IIncrementalRotaryEncoder leftShaftEncoder,
IIncrementalRotaryEncoder rightShaftEncoder,
float wheelMetersPerShaftRadian
)
: base(name, DeviceType.PositionTracker)
{
this.gyroscope = gyroscope;
this.leftShaftEncoder = leftShaftEncoder;
this.rightShaftEncoder = rightShaftEncoder;
this.wheelMetersPerShaftRadian = wheelMetersPerShaftRadian;
}
/// <summary>
/// Performs application-defined tasks associated with freeing, releasing, or resetting unmanaged resources.
/// </summary>
/// <filterpriority>2</filterpriority>
/// <remarks>Call <see cref="Dispose"/> when you are finished using the
/// <see cref="CyrusBuilt.MonoPi.Components.Gyroscope.AnalogDevices.ADXL345"/>. The <see cref="Dispose"/> method
/// leaves the <see cref="CyrusBuilt.MonoPi.Components.Gyroscope.AnalogDevices.ADXL345"/> in an unusable state. After
/// calling <see cref="Dispose"/>, you must release all references to the
/// <see cref="CyrusBuilt.MonoPi.Components.Gyroscope.AnalogDevices.ADXL345"/> so the garbage collector can reclaim
/// the memory that the <see cref="CyrusBuilt.MonoPi.Components.Gyroscope.AnalogDevices.ADXL345"/> was occupying.</remarks>
public override void Dispose()
{
if (base.IsDisposed)
{
return;
}
if (this._device != null)
{
this._device.Dispose();
this._device = null;
}
if (this._aX != null)
{
this._aX.Dispose();
this._aX = null;
}
if (this._aY != null)
{
this._aY.Dispose();
this._aY = null;
}
if (this._aZ != null)
{
this._aZ.Dispose();
this._aZ = null;
}
if (this._x != null)
{
this._x.Dispose();
this._x = null;
}
if (this._y != null)
{
this._y.Dispose();
this._y = null;
}
if (this._z != null)
{
this._z.Dispose();
this._z = null;
}
base.Dispose();
}
/// <summary>
/// Construct a new Complementary filter with the specified accelerometer and gyroscope (which is often the same IC)
/// </summary>
/// <param name="accelerometer">The accelerometer to use</param>
/// <param name="gyroscope">The gyroscope to use</param>
/// <param name="samplePeriodMs">The sample period to poll these devices at</param>
/// <param name="useHighResolutionTimer">Whether to use an accurate (but CPU-hungry) timer</param>
public ComplementaryFilter(IAccelerometer accelerometer, IGyroscope gyroscope, int samplePeriodMs = 10,
bool useHighResolutionTimer = false)
{
//RollQuaternion = new Quaternion(Xaxis, 0);
//PitchQuaternion = new Quaternion(Yaxis, 0);
accel = accelerometer;
gyro = gyroscope;
accelPoller = new Poller <IAccelerometer>(accelerometer, samplePeriodMs, useHighResolutionTimer);
accelPoller.OnNewSensorValue += PollerEvent;
if (accelerometer != gyroscope) // if we have two different sensors
{
gyroPoller = new Poller <IAccelerometer>(accelerometer, samplePeriodMs, useHighResolutionTimer);
gyroPoller.OnNewSensorValue += PollerEvent;
}
}
public MainViewModel(IAccelerometer accelerometer = null,
IGyroscope gyroscope = null,
IMagnetometer magnetometer = null,
ICompass compass = null,
IAmbientLight ambientLight = null,
IBarometer barometer = null,
IPedometer pedometer = null,
IProximity proximity = null)
{
this.Sensors = new List <ISensorViewModel>();
this.AddIf(accelerometer, "G");
this.AddIf(gyroscope, "G");
this.AddIf(magnetometer, "M");
this.AddIf(compass, "D");
this.AddIf(ambientLight, "Light");
this.AddIf(barometer, "Pressure");
this.AddIf(pedometer, "Steps");
this.AddIf(proximity, "Near");
}
/// <summary>
/// Initializes a new instance of the <see cref="CyrusBuilt.MonoPi.Components.Gyroscope.AnalogDevices.ADXL345"/>
/// class with the I2C device that represents the physical connection
/// to the gyro.
/// </summary>
/// <param name="device">
/// The I2C device that represents the physical connection to the gyro.
/// If null, then it is assumed that the host is a revision 2 or higher
/// board and a default <see cref="CyrusBuilt.MonoPi.IO.I2C.I2CBus"/>
/// using the rev 2 I2C bus path will be used instead.
/// </param>
/// <exception cref="IOException">
/// Unable to open the specified I2C bus device.
/// </exception>
/// <exception cref="ObjectDisposedException">
/// The specified device instance has been disposed.
/// </exception>
public ADXL345(II2CBus device)
: base()
{
if (device == null)
{
device = new I2CBus(BoardRevision.Rev2);
}
this._device = device;
if (!this._device.IsOpen)
{
this._device.Open();
}
this._x = new AxisGyroscope(this, 20f);
this._y = new AxisGyroscope(this, 20f);
this._z = new AxisGyroscope(this, 20f);
this._aX = (AxisGyroscope)this._x;
this._aY = (AxisGyroscope)this._y;
this._aZ = (AxisGyroscope)this._z;
}
/// <summary>
/// Initializes the Gyro.
/// </summary>
/// <param name="triggeringAxis">
/// The gyro that represents the single axis responsible for
/// the triggering of updates.
/// </param>
/// <param name="mode">
/// The gyro update trigger mode.
/// </param>
/// <returns>
/// Reference to the specified triggering axis, which may or may
/// not have been modified.
/// </returns>
/// <exception cref="System.IO.IOException">
/// Unable to write to gyro.
/// </exception>
/// <exception cref="ObjectDisposedException">
/// This instance has been disposed.
/// </exception>
public IGyroscope Init(IGyroscope triggeringAxis, GyroTriggerMode mode) {
this.Enable();
if (triggeringAxis == this.aX) {
this.aX.SetReadTrigger(mode);
}
else {
this.aX.SetReadTrigger(GyroTriggerMode.ReadNotTriggered);
}
if (triggeringAxis == this.aY) {
this.aY.SetReadTrigger(mode);
}
else {
this.aY.SetReadTrigger(GyroTriggerMode.ReadNotTriggered);
}
if (triggeringAxis == this.aZ) {
this.aZ.SetReadTrigger(mode);
}
else {
this.aZ.SetReadTrigger(GyroTriggerMode.ReadNotTriggered);
}
return triggeringAxis;
}
/// <summary>
/// Initializes a new instance of the <see cref="AcceleratorSensorPage"/> class.
/// </summary>
public GyroscopePage()
{
var device = Resolver.Resolve<IDevice> ();
Title ="Accelerator Sensor";
if (device.Gyroscope == null)
{
Content = new Label ()
{
TextColor = Color.Red,
Text = "Device does not have gyroscope sensor or it is not enabled."
};
return;
}
this.gyroscope = device.Gyroscope;
var grid = new StackLayout ();
this.xsensor = new SensorBarView ()
{
HeightRequest = 75,
WidthRequest = 250,
MinimumHeightRequest = 10,
MinimumWidthRequest = 50,
BackgroundColor = BackgroundColor
// VerticalOptions = LayoutOptions.Fill,
// HorizontalOptions = LayoutOptions.Fill
};
this.ysensor = new SensorBarView()
{
HeightRequest = 75,
WidthRequest = 250,
MinimumHeightRequest = 10,
MinimumWidthRequest = 50,
BackgroundColor = BackgroundColor
// VerticalOptions = LayoutOptions.Fill,
// HorizontalOptions = LayoutOptions.Fill
};
this.zsensor = new SensorBarView()
{
HeightRequest = 75,
WidthRequest = 250,
MinimumHeightRequest = 10,
MinimumWidthRequest = 50,
BackgroundColor = BackgroundColor
// VerticalOptions = LayoutOptions.Fill,
// HorizontalOptions = LayoutOptions.Fill
};
grid.Children.Add (new Label () { Text = string.Format ("Accelerometer data for {0}", device.Name) });
grid.Children.Add (new Label () { Text = "X", XAlign = TextAlignment.Center });
grid.Children.Add (this.xsensor);
grid.Children.Add (new Label () { Text = "Y", XAlign = TextAlignment.Center });
grid.Children.Add (this.ysensor);
grid.Children.Add (new Label () { Text = "Z", XAlign = TextAlignment.Center });
grid.Children.Add (this.zsensor);
Content = grid;
}
/// <summary>
/// Initializes a new instance of the <see cref="CyrusBuilt.MonoPi.Components.Gyroscope.AnalogDevices.ADXL345"/>
/// class with the I2C device that represents the physical connection
/// to the gyro.
/// </summary>
/// <param name="device">
/// The I2C device that represents the physical connection to the gyro.
/// If null, then it is assumed that the host is a revision 2 or higher
/// board and a default <see cref="CyrusBuilt.MonoPi.IO.I2C.I2CBus"/>
/// using the rev 2 I2C bus path will be used instead.
/// </param>
/// <exception cref="IOException">
/// Unable to open the specified I2C bus device.
/// </exception>
/// <exception cref="ObjectDisposedException">
/// The specified device instance has been disposed.
/// </exception>
public ADXL345(II2CBus device)
: base() {
if (device == null) {
device = new I2CBus(BoardRevision.Rev2);
}
this._device = device;
if (!this._device.IsOpen) {
this._device.Open();
}
this._x = new AxisGyroscope(this, 20f);
this._y = new AxisGyroscope(this, 20f);
this._z = new AxisGyroscope(this, 20f);
this._aX = (AxisGyroscope)this._x;
this._aY = (AxisGyroscope)this._y;
this._aZ = (AxisGyroscope)this._z;
}
/// <summary>
/// Performs application-defined tasks associated with freeing, releasing, or resetting unmanaged resources.
/// </summary>
/// <filterpriority>2</filterpriority>
/// <remarks>Call <see cref="Dispose"/> when you are finished using the
/// <see cref="CyrusBuilt.MonoPi.Components.Gyroscope.AnalogDevices.ADXL345"/>. The <see cref="Dispose"/> method
/// leaves the <see cref="CyrusBuilt.MonoPi.Components.Gyroscope.AnalogDevices.ADXL345"/> in an unusable state. After
/// calling <see cref="Dispose"/>, you must release all references to the
/// <see cref="CyrusBuilt.MonoPi.Components.Gyroscope.AnalogDevices.ADXL345"/> so the garbage collector can reclaim
/// the memory that the <see cref="CyrusBuilt.MonoPi.Components.Gyroscope.AnalogDevices.ADXL345"/> was occupying.</remarks>
public override void Dispose() {
if (base.IsDisposed) {
return;
}
if (this._device != null) {
this._device.Dispose();
this._device = null;
}
if (this._aX != null) {
this._aX.Dispose();
this._aX = null;
}
if (this._aY != null) {
this._aY.Dispose();
this._aY = null;
}
if (this._aZ != null) {
this._aZ.Dispose();
this._aZ = null;
}
if (this._x != null) {
this._x.Dispose();
this._x = null;
}
if (this._y != null) {
this._y.Dispose();
this._y = null;
}
if (this._z != null) {
this._z.Dispose();
this._z = null;
}
base.Dispose();
}
/**
* Set the delegate implementation.
*
* @param _delegate The delegate implementing platform specific functions.
*/
public void SetDelegate(IGyroscope _delegate)
{
this._delegate = _delegate;
}
/**
* Constructor with delegate.
*
* @param _delegate The delegate implementing platform specific functions.
*/
public GyroscopeBridge(IGyroscope _delegate) : base()
{
this._delegate = _delegate;
}
/// <summary>
/// Initializes a new instance of the <see cref="AcceleratorSensorPage"/> class.
/// </summary>
public GyroscopePage()
{
var device = Resolver.Resolve <IDevice> ();
Title = "Accelerator Sensor";
if (device.Gyroscope == null)
{
Content = new Label()
{
TextColor = Color.Red,
Text = "Device does not have gyroscope sensor or it is not enabled."
};
return;
}
this.gyroscope = device.Gyroscope;
var grid = new StackLayout();
this.xsensor = new SensorBarView()
{
HeightRequest = 75,
WidthRequest = 250,
MinimumHeightRequest = 10,
MinimumWidthRequest = 50,
BackgroundColor = BackgroundColor
// VerticalOptions = LayoutOptions.Fill,
// HorizontalOptions = LayoutOptions.Fill
};
this.ysensor = new SensorBarView()
{
HeightRequest = 75,
WidthRequest = 250,
MinimumHeightRequest = 10,
MinimumWidthRequest = 50,
BackgroundColor = BackgroundColor
// VerticalOptions = LayoutOptions.Fill,
// HorizontalOptions = LayoutOptions.Fill
};
this.zsensor = new SensorBarView()
{
HeightRequest = 75,
WidthRequest = 250,
MinimumHeightRequest = 10,
MinimumWidthRequest = 50,
BackgroundColor = BackgroundColor
// VerticalOptions = LayoutOptions.Fill,
// HorizontalOptions = LayoutOptions.Fill
};
grid.Children.Add(new Label()
{
Text = string.Format("Accelerometer data for {0}", device.Name)
});
grid.Children.Add(new Label()
{
Text = "X", XAlign = TextAlignment.Center
});
grid.Children.Add(this.xsensor);
grid.Children.Add(new Label()
{
Text = "Y", XAlign = TextAlignment.Center
});
grid.Children.Add(this.ysensor);
grid.Children.Add(new Label()
{
Text = "Z", XAlign = TextAlignment.Center
});
grid.Children.Add(this.zsensor);
Content = grid;
}
public MotionStateSnapshotLog(IPositionTracker positionTracker, IGyroscope yawGyroscope, TimeSpan snapshotCullingExpiration) : base(snapshotCullingExpiration)
{
this.positionTracker = positionTracker;
this.yawGyroscope = yawGyroscope;
}
