private static Task CalibrateAsync(CancellationToken token) { var chip = new BNO055Sensor(Board.Peripherals, OperationMode.NDOF); return(new Calibrator(chip).CalibrateAsync(token)); }
private static async Task RunAsync(AbsArguments args, CancellationToken token) { while (true) { var chip = new BNO055Sensor(Board.Peripherals, OperationMode.NDOF); Console.WriteLine(chip.UnitSelection); Double3 velocity = 0; var last = DateTimeOffset.UtcNow; while (true) { if (token.IsCancellationRequested) { return; } if (args.Quaternion) { Console.WriteLine($"Quaternion: {chip.ReadQuaternion()}"); } if (args.RollPitchYaw) { var rpy = chip.ReadRollPitchYaw(); Console.WriteLine($"Roll pitch yaw: rad {rpy} deg {rpy * 180 / Math.PI}"); } if (args.Euler) { Console.WriteLine($"Euler: {chip.ReadEulerData().ToString(" 000.00;-000.00")}"); } if (args.Accel) { Console.WriteLine($"Accel: {chip.ReadAccel()}"); } if (args.Mag) { Console.WriteLine($"Mag: {chip.ReadMag()}"); } if (args.LinearAccel) { Console.WriteLine($"Linear Accel: {chip.ReadLinearAccel()}"); } if (args.Compass) { var mag = chip.ReadMag(); var yaw = Math.Atan2(mag.Y, mag.X); Console.WriteLine($"Compass: Rad:{yaw}, Deg:{yaw * 180 / Math.PI}"); } if (args.Velocity) { var accel = chip.ReadLinearAccel(); var now = DateTimeOffset.UtcNow; velocity = velocity + accel * (now - last).TotalSeconds; last = now; Console.WriteLine($"Velocity: {velocity}"); } if (args.Gyro) { Console.WriteLine($"Gyro: {chip.ReadGyro()}"); } if (args.Temp) { Console.WriteLine($"Temp: {chip.ReadTemp()}"); } await Task.Delay(100, token); } } }
public Calibrator(BNO055Sensor sensor) { _sensor = sensor; }