void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
Quaternion q = e.Reading.Orientation;
const float eps = 0.137472f;
const float deg90 = 0.707f;
if (q.X > 0 && Math.Abs(q.Y - q.Z) <= eps)
{
Orientation = ImageOrientation.Portrait;
}
else if (q.X < 0 && (Math.Abs(q.Y - q.Z) <= eps || Math.Abs(q.Y + q.Z) <= eps))
{
Orientation = ImageOrientation.PortraitBottom;
}
else if (Math.Abs(q.Z - q.X) <= eps && q.Y < 0)
{
Orientation = ImageOrientation.LandscapeLeft;
}
else if (Math.Abs(q.Z + q.X) <= eps && q.Y > 0)
{
Orientation = ImageOrientation.LandscapeRight;
}
else if (Math.Abs(q.X) <= eps && Math.Abs(q.Y) <= eps)
{
Orientation = ImageOrientation.Portrait;
}
else if (q.X < 0 && Math.Abs(q.Z) <= eps && Math.Abs(q.W) <= eps)
{
Orientation = ImageOrientation.Portrait;
}
SetOrientationToContext();
}
private void Update(object sender, OrientationSensorChangedEventArgs e)
{
var ea = (e.Reading.Orientation).ToEulerAngles();
ea.X = 0f; //(float)Math.Round(ea.X, 2);
ea.Y = (float)Math.Round(ea.Y, 2) * (float)(180 / Math.PI);
ea.Z = 0f; //(float)Math.Round(ea.Z, 2);
var current = getString(ea.Y);
label.Text = list.getCurrent().ToString();
if (OLD != current)
{
if (current == "True")
{
label.Text = list.GetNext().ToString();
}
if (current == "Fasle")
{
label.Text = list.GetNext().ToString();
}
}
OLD = getString(ea.Y);
}
void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
var data = e.Reading;
// Process Orientation quaternion (X, Y, Z, and W)
Console.WriteLine($"Reading: X: {data.Orientation.X}, Y: {data.Orientation.Y}, Z: {data.Orientation.Z}, W: {data.Orientation.W}");
label.Text = String.Format("X: {0,0:F4} \nY: {1,0:F4} \nZ: {2,0:F4} \nW: {3,0:F4}", data.Orientation.X, data.Orientation.Y, data.Orientation.Z, data.Orientation.W);
}
void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
MainThread.BeginInvokeOnMainThread(() => {
xLabel.Text = e.Reading.Orientation.X.ToString();
yLabel.Text = e.Reading.Orientation.Y.ToString();
zLabel.Text = e.Reading.Orientation.Z.ToString();
});
}
private void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
var data = e.Reading;
XOrientationValue = data.Orientation.X;
YOrientationValue = data.Orientation.Y;
ZOrientationValue = data.Orientation.Z;
WOrientationValue = data.Orientation.W;
}
private void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
OrientationSensorData reading = e.Reading;
QuaternionData data = Orientation;
data.Value = reading.Orientation;
data.TimeStamp = DateTime.UtcNow;
data.SendNotification();
}
void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
//c++; //c'è questa cosa perchè i sensori fanno una misurazione circa ogni 10ms,
//if (c % 10 == 0) //quindi spamma troppo e il garbage collector esplode
//return; //facendo così 9 misurazioni su 10 le skippa e quindi è più leggero
//if (c == 1000000)
//c = 0;
num++;
ToEulerAngles(e.Reading.Orientation);
}
private void OrientationChanged(object sender, OrientationSensorChangedEventArgs args)
{
Euler euler = args.Reading.Orientation.ToEuler();
double headingInMils = euler.Yaw / 360 * 6400;
double elevationInMils = euler.Pitch * -1 / 360 * 6400;
HorizontalGauge.Value = ((headingInMils % 6400) + 6400) % 6400;
VerticalGauge.Value = elevationInMils;
}
void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
var data = e.Reading;
this.OrrX = data.Orientation.X;
this.OrrY = data.Orientation.Y;
this.OrrZ = data.Orientation.Z;
this.OrrW = data.Orientation.W;
Console.WriteLine($"Orientation: X: {data.Orientation.X}, Y: {data.Orientation.Y}, Z: {data.Orientation.Z}, W: {data.Orientation.W}");
}
private void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
if (udpClient != null)
{
var o = e.Reading.Orientation;
var msg = Encoding.ASCII.GetBytes($"{o.X.ToString(enUS)},{o.Y.ToString(enUS)},{o.Z.ToString(enUS)},{o.W.ToString(enUS)}");
udpClient.Send(msg, msg.Length);
}
}
void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
var data = e.Reading;
//Console.WriteLine($"Reading: X: {data.Orientation.X}, Y: {data.Orientation.Y}, Z: { data.Orientation.Z}, W: { data.Orientation.W}");
// Process Orientation quaternion (X, Y, Z, and W)
oriX = data.Orientation.X;
oriY = data.Orientation.Y;
oriZ = data.Orientation.Z;
oriW = data.Orientation.W;
}
internal void RaiseReadingChanged(OrientationSensorData reading)
{
var args = new OrientationSensorChangedEventArgs(reading);
if (UseSyncContext)
{
MainThread.BeginInvokeOnMainThread(() => ReadingChanged?.Invoke(null, args));
}
else
{
ReadingChanged?.Invoke(null, args);
}
}
void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
var data = e.Reading;
ToEulerAngles(data.Orientation.W, data.Orientation.X, data.Orientation.Y, data.Orientation.Z);
EulerAngles0.Text = eulerAngles[0].ToString("#.##");
EulerAngles1.Text = eulerAngles[1].ToString("#.##");
EulerAngles2.Text = eulerAngles[1].ToString("#.##");
if (bAngledWalk == true && CheckOrientation() == false)
{
EulerAngles2.Text = "Whoops...";
bAngledWalk = false;
StartMeasuringAngledWalk(bAngledWalk);
}
}
void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
var data = e.Reading;
// 調整するパラメータ
float paramX = 3;
float paramY = 5.5F;
int paramLR = 140; // 直角に傾けるくらいで左右モードにする
// Xに係数をかけて左右のSpeedとする
int ox = (int)(data.Orientation.X * 100 * paramX);
// Yに係数をかけて前後のSpeedとする
int oy = (int)(data.Orientation.Y * 100 * paramY);
int ow = (int)(data.Orientation.W * 100);
int oz = (int)(data.Orientation.Z * 100);
Device.BeginInvokeOnMainThread(() =>
{
LableOrientation.Text = $"Orientation X={ox}, Y={oy}, Z={oz}, W={ow}";
});
if (_OrientationMode)
{
if (Math.Abs(ox) > paramLR)
{
if (ox < 0)
{
_ev3.Wheels.TurnLeft(ox, 360);
}
else
{
_ev3.Wheels.TurnRight(ox, 360);
}
}
else
{
if (oy >= 0)
{
_ev3.Wheels.GoForward(oy, 720);
}
else
{
_ev3.Wheels.GoBackward(oy, 720);
}
}
}
}
private void OnOrientationReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
if (Orientation == e.Reading.Orientation)
{
return;
}
if (_origin == Quaternion.Identity)
{
_origin = Quaternion.Inverse(e.Reading.Orientation);
}
Orientation = Quaternion.Multiply(_origin, e.Reading.Orientation);
CalculateEulerAngles(Orientation, out var roll, out var yaw, out var pitch);
TranslationX = (yaw / Math.PI) * PanoramaWidth;
TranslationY = (roll / Math.PI) * PanoramaHeight;
}
void Orientation_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
var o = e.Reading.Orientation;
var v = new Vector4(o.X, o.Y, o.Z, o.W);
var min = (OrientationMin = GetMin(v, OrientationMin)).Value;
var max = (OrientationMax = GetMax(v, OrientationMax)).Value;
var d = max - min;
if (d.X > sensitivity || d.Y > sensitivity || d.Z > sensitivity || d.W > sensitivity)
{
PlayAlarm(true);
}
var ev = OrientationChanged;
if (ev != null)
{
ev(this, new MoveMonitorEventArgs <Vector4>(v, d));
}
}
void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
var data = e.Reading;
var item = new ItemC
{
DateInfo = DateTime.Now.ToString(),
LabelX = "X: " + data.Orientation.X,
LabelY = "Y: " + data.Orientation.Y,
LabelZ = "Z: " + data.Orientation.Z,
LabelW = "W: " + data.Orientation.W
};
Calculos.Insert(0, item);
ListViewCheck.ItemsSource = Calculos;
if (OrientationSensor.IsMonitoring)
{
OrientationSensor.Stop();
}
}
void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
double seuil = 0.4;
oldOrtX = e.Reading.Orientation.X;
oldOrtY = e.Reading.Orientation.Y;
if ((Math.Abs(Math.Round(oldOrtX, 2)) == seuil || Math.Abs(Math.Round(oldOrtY, 2)) == seuil) && nbDeplacement >= 1)
{
nbTangRoul++;
nbDeplacement++;
switch (nbTangRoul)
{
case 1:
PlayerVoice(voix, 2);
break;
case 5:
PlayerVoice(voix, 4);
break;
}
}
}
void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
var data = e.Reading;
_data = $"Reading: X: {data.Orientation.X}, Y: {data.Orientation.Y}, Z: {data.Orientation.Z}";
}
private void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
this.OrientationValue.Text = DeviceDisplay.MainDisplayInfo.Orientation.ToString();
}
/// <summary>
///
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
_ = e.Reading;
// Process Orientation quaternion (X, Y, Z, and W)
}
void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
var data = e.Reading;
FindViewById <TextView>(Resource.Id.orientation).Text = $"Reading: X: {data.Orientation.X}, Y: {data.Orientation.Y}, Z: {data.Orientation.Z}, W: {data.Orientation.W}";
}
private void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
OrientationDataReading.Add(OrientationWatch.ElapsedTicks, e.Reading);
}
private void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
orientation = e.Reading.Orientation;
Debug.WriteLine($"Reading: X: {orientation.X}, Y: {orientation.Y}, Z: {orientation.Z}, W: {orientation.W}");
}
private void SecondSequence(object sender, OrientationSensorChangedEventArgs e)
{
Console.WriteLine(e.Reading.Orientation + "fffffff");
}
void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
var data = e.Reading;
OrientationSensorString = ($"Mesure: X: {data.Orientation.X}, Y: {data.Orientation.Y}, Z: {data.Orientation.Z}, W: {data.Orientation.W}");
}
private void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
LatestOrientation = e.Reading.Orientation;
}
private void orientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
showOrientation(e.Reading.Orientation);
}
void OrientationSensor_ReadingChanged(object sender, OrientationSensorChangedEventArgs e)
{
var data = e.Reading;
//Debug.WriteLine($"Reading: X: {data.Orientation.X}, Y: {data.Orientation.Y}, Z: {data.Orientation.Z}, W: {data.Orientation.W}");
// Process Orientation quaternion (X, Y, Z, and W)
}
