public void GetMagneticField(ImuSensorReadings r)
{
Magnet = r.MagneticField;
MagnetScalar = Math.Sqrt(Math.Pow(r.MagneticField.X, 2) + Math.Pow(r.MagneticField.Y, 2) + Math.Pow(r.MagneticField.Z, 2));
mmax = Math.Max(MagnetScalar, mmax) + 1;
mmin = Math.Min(MagnetScalar, mmin) - 1;
}
public void GetGyroscope(ImuSensorReadings r)
{
Gyro = r.Gyro.AsDegrees;
GyroMax = GetVectorMax(GyroMax, Gyro);
GyroMin = GetVectorMin(GyroMin, Gyro);
GyroScalar = Math.Sqrt(Math.Pow(r.Gyro.AsDegrees.X, 2) + Math.Pow(r.Gyro.AsDegrees.Y, 2) + Math.Pow(r.Gyro.AsDegrees.Z, 2));
gmax = Math.Max(GyroScalar, gmax) + 1;
gmin = Math.Min(GyroScalar, gmin) - 1;
}
public void GetAcceleration(ImuSensorReadings r)
{
Acceleration = r.Acceleration;
AccelerationMin = GetVectorMin(Acceleration, AccelerationMin);
AccelerationMax = GetVectorMax(Acceleration, AccelerationMax);
AcceloScalar = Math.Sqrt(Math.Pow(r.Acceleration.X, 2) + Math.Pow(r.Acceleration.Y, 2) + Math.Pow(r.Acceleration.Z, 2));
amax = Math.Max(AcceloScalar, amax) + 1;
amin = Math.Min(AcceloScalar, amin) - 1;
}
public void GetFusionPose(ImuSensorReadings r)
{
PitchAxis = r.FusionPose.AsDegrees.X;
RollAxis = r.FusionPose.AsDegrees.Y;
JawAxis = r.FusionPose.AsDegrees.Z;
}
