/// <summary>
/// Calculates the value of the different gyroscope axis and scales it.
/// </summary>
/// <param name="data">Complete array of data retrieved from the sensor</param>
/// <param name="axis">Specifies the axis the gyroscope was configured to read</param>
/// <returns>Array of float with values in order of the GyroscopeAxis enum</returns>
public static float[] CalculateAxisValue(byte[] data, GyroscopeAxis axis)
{
switch(axis)
{
case GyroscopeAxis.X:
case GyroscopeAxis.Y:
case GyroscopeAxis.Z:
return new float[] { BitConverter.ToInt16(data, 0) * (500f / 65536f) };
case GyroscopeAxis.XY:
case GyroscopeAxis.XZ:
case GyroscopeAxis.YZ:
return new float[] { BitConverter.ToInt16(data, 0) * (500f / 65536f),
BitConverter.ToInt16(data, 2) * (500f / 65536f) };
case GyroscopeAxis.XYZ:
return new float[] { BitConverter.ToInt16(data, 0) * (500f / 65536f),
BitConverter.ToInt16(data, 2) * (500f / 65536f),
BitConverter.ToInt16(data, 4) * (500f / 65536f) };
default:
return new float[] { 0, 0, 0 };
}
}
/// <summary>
/// Calculates the value of the different gyroscope axis and scales it.
/// </summary>
/// <param name="data">Complete array of data retrieved from the sensor</param>
/// <param name="axis">Specifies the axis the gyroscope was configured to read</param>
/// <returns>Array of float with values in order of the GyroscopeAxis enum</returns>
public static float[] CalculateAxisValue(byte[] data, GyroscopeAxis axis)
{
switch (axis)
{
case GyroscopeAxis.X:
case GyroscopeAxis.Y:
case GyroscopeAxis.Z:
return(new float[] { BitConverter.ToInt16(data, 0) * (500f / 65536f) });
case GyroscopeAxis.XY:
case GyroscopeAxis.XZ:
case GyroscopeAxis.YZ:
return(new float[] { BitConverter.ToInt16(data, 0) * (500f / 65536f),
BitConverter.ToInt16(data, 2) * (500f / 65536f) });
case GyroscopeAxis.XYZ:
return(new float[] { BitConverter.ToInt16(data, 0) * (500f / 65536f),
BitConverter.ToInt16(data, 2) * (500f / 65536f),
BitConverter.ToInt16(data, 4) * (500f / 65536f) });
default:
return(new float[] { 0, 0, 0 });
}
}
/// <summary>
/// Enables the sensor with the specified axis
/// </summary>
/// <param name="gyroscopeAxis">axis you want to record</param>
/// <returns></returns>
/// <exception cref="DeviceUnreachableException">Thrown if it wasn't possible to communicate with the device.</exception>
/// <exception cref="DeviceNotInitializedException">Thrown if sensor has not been initialized successfully.</exception>
public async Task EnableSensor(GyroscopeAxis gyroscopeAxis)
{
Validator.Requires <DeviceNotInitializedException>(deviceService != null);
this.gyroscopeAxis = gyroscopeAxis;
await base.EnableSensor(new byte[] { (byte)gyroscopeAxis });
}
/// <summary>
/// Enables the sensor with the specified axis
/// </summary>
/// <param name="gyroscopeAxis">axis you want to record</param>
/// <returns></returns>
/// <exception cref="DeviceUnreachableException">Thrown if it wasn't possible to communicate with the device.</exception>
/// <exception cref="DeviceNotInitializedException">Thrown if sensor has not been initialized successfully.</exception>
public async Task EnableSensor(GyroscopeAxis gyroscopeAxis)
{
Validator.Requires<DeviceNotInitializedException>(deviceService != null);
this.gyroscopeAxis = gyroscopeAxis;
await base.EnableSensor(new byte[] { (byte)gyroscopeAxis });
}
