/// <summary>
/// Create a row vector from a Vector type.
/// </summary>
/// <param name="v">Vector to convert</param>
public static Matrix CreateRowVector(Vector v)
{
Matrix resultant = new Matrix(1, 3);
resultant[0, 0] = v.X;
resultant[0, 1] = v.Y;
resultant[0, 2] = v.Z;
return resultant;
}
/// <summary>
/// Create a column vector from a Vector type.
/// </summary>
/// <param name="v">Vector to convert</param>
public static Matrix CreateColumnVector(Vector v)
{
Matrix resultant = new Matrix(3, 1);
resultant[0, 0] = v.X;
resultant[1, 0] = v.Y;
resultant[2, 0] = v.Z;
return resultant;
}
/// <summary>
/// Event is called when the IMU class has gathered and converted the sensor data
/// </summary>
private static void Imu_DataProcessed()
{
// Make a vector of the Y and Z axes acceleration. (forward and backwards, and side to side accelerations)
YZ_Vector = new Vector(0, IMU.Data[1], IMU.Data[2]);
// If a crash hasn't already been reported and there is a crash. (Crash defined as a magnitude of 4 Gs or greater in the YZ vector)
if (crashThread == null && YZ_Vector.Magnitude > 4)
{
// Begin crash detected thread and warn of a detection with the ready buzz and light
crashThread = new Thread(crashEvent);
crashThread.Start();
Buzzer.ReadyBuzz();
GoLED.ReadyLight();
}
// If we're running a webserver, update the display data
if (WebDisplay.Initialized)
WebDisplay.UpdateString(IMU.Data);
// If we're logging, log the data.
if (enableLogging)
{
buffer = Encoding.UTF8.GetBytes(
IMU.Data[0] + "," +
IMU.Data[1] + "," +
IMU.Data[2] + "," +
IMU.Data[3] + "," +
IMU.Data[4] + "," +
IMU.Data[5] + "," +
IMU.Data[6] + "," +
IMU.Data[7] + "," +
IMU.Data[8] + ",," +
IMU.Data[9] + "," +
IMU.Data[10] + "," +
IMU.Data[11] + "\n");
writer.Write(buffer, 0, buffer.Length);
}
}