private void Sensors_ReadingAvailable(Sensors.Reading reading)
{
OrientationTracker.Primary.UpdateWithReading(reading);
//OrientationTracker.Secondary.UpdateWithReading(reading, -1, true); // uncomment if using two IMUs
if ((DateTime.Now - last).TotalMilliseconds > 30)
{
EulerAngles orientation = OrientationTracker.Primary.EstimateOrientation().GetEulerAngles();
int resolution = 1;
int yaw = resolution * (int)Math.Round(orientation.Yaw * 180 / Math.PI / resolution);
int pitch = resolution * (int)Math.Round(orientation.Pitch * 180 / Math.PI / resolution);
int roll = resolution * (int)Math.Round(orientation.Roll * 180 / Math.PI / resolution);
if (RemoveGravityCheckbox.Checked)
{
reading = OrientationTracker.SubtractGravity(reading);
}
Invoke(new MethodInvoker(delegate
{
StatusBox.Text = "";
StatusBox.Text += "ax = " + reading.Accelerometer1.X + " m/s^2" + Environment.NewLine;
StatusBox.Text += "ay = " + reading.Accelerometer1.Y + " m/s^2" + Environment.NewLine;
StatusBox.Text += "az = " + reading.Accelerometer1.Z + " m/s^2" + Environment.NewLine;
StatusBox.Text += "gx = " + reading.Gyroscope1.X + " deg / s" + Environment.NewLine;
StatusBox.Text += "gy = " + reading.Gyroscope1.Y + " deg / s" + Environment.NewLine;
StatusBox.Text += "gz = " + reading.Gyroscope1.Z + " deg / s" + Environment.NewLine;
StatusBox.Text += "mx = " + reading.Magnetometer1.X + " gauss" + Environment.NewLine;
StatusBox.Text += "my = " + reading.Magnetometer1.Y + " gauss" + Environment.NewLine;
StatusBox.Text += "mz = " + reading.Magnetometer1.Z + " gauss" + Environment.NewLine;
StatusBox.Text += yaw + Environment.NewLine + pitch + Environment.NewLine + roll;
}));
last = DateTime.Now;
}
}
private void Sensors_ReadingAvailable(Sensors.Reading reading)
{
OrientationTracker.Primary.UpdateWithReading(reading);
//OrientationTracker.Secondary.UpdateWithReading(reading, -1, true); // uncomment if using two IMUs
Quaternion quaternion = OrientationTracker.Primary.EstimateOrientation();
EulerAngles orientation = quaternion.GetEulerAngles();
int resolution = 10;
int yaw = resolution * (int)Math.Round(orientation.Yaw * 180 / Math.PI / resolution);
int pitch = resolution * (int)Math.Round(orientation.Pitch * 180 / Math.PI / resolution);
int roll = resolution * (int)Math.Round(orientation.Roll * 180 / Math.PI / resolution);
reading.Orientation1 = quaternion;
if ((DateTime.Now - last).TotalMilliseconds > 30)
{
Invoke(new MethodInvoker(delegate
{
OrientationLabel.Text = yaw + ", " + pitch + ", " + roll;
//OrientationLabel.Text = orientation.W.ToString("0.0") + ", " + orientation.X.ToString("0.0") + ", " + orientation.Y.ToString("0.0") + ", " + orientation.Z.ToString("0.0");
}));
last = DateTime.Now;
}
TouchSegmentation.UpdateWithReading(reading);
Logging.LogSensorReading(reading);
sensorReadingHistory.Add(reading);
while (sensorReadingHistory.Count > sensorReadingPreBuffer)
{
sensorReadingHistory.Take();
}
if (touchDown)
{
gestureSensorReadings.Add(reading);
}
}
