public void IMUSamplingEvent(Object s, PrecisionTimerEventArgs e)
{
if (IMUcomms != null)
{
if (IMUcomms.Flag_CommsActive)
{
Matrix <float> imudata = new Matrix <float>(1, 6);
imudata.Data[0, 0] = IMUcomms.Last_Acc1; imudata.Data[0, 1] = IMUcomms.Last_Acc2; imudata.Data[0, 2] = IMUcomms.Last_Acc3;
imudata.Data[0, 3] = IMUcomms.Last_Angvel1; imudata.Data[0, 4] = IMUcomms.Last_Angvel2; imudata.Data[0, 5] = IMUcomms.Last_Angvel3;
if (!Flag_GravityFound_Y) // check for gravity along the Y axis
{
Flag_GravityFound_Y = (Math.Abs(imudata.Data[0, 0] - 1.0) < 0.001);
}
if (Flag_GravityFound_Y) // record the data
{
IMUDataInstance newIMUData = new IMUDataInstance(FrameIndex,
IMUcomms.Last_Acc1, IMUcomms.Last_Acc2, IMUcomms.Last_Acc3,
IMUcomms.Last_Angvel1, IMUcomms.Last_Angvel2, IMUcomms.Last_Angvel3);
IMUCapturedata.Add(newIMUData);
}
}
}
}
public void IMUSamplingEvent(Object s, PrecisionTimerEventArgs e)
{
if (IMUcomms != null)
if (IMUcomms.Flag_CommsActive)
{
Matrix<float> imudata = new Matrix<float>(1, 6);
imudata.Data[0, 0] = IMUcomms.Last_Acc1; imudata.Data[0, 1] = IMUcomms.Last_Acc2; imudata.Data[0, 2] = IMUcomms.Last_Acc3;
imudata.Data[0, 3] = IMUcomms.Last_Angvel1; imudata.Data[0, 4] = IMUcomms.Last_Angvel2; imudata.Data[0, 5] = IMUcomms.Last_Angvel3;
if (!Flag_GravityFound_Y) // check for gravity along the Y axis
Flag_GravityFound_Y = (Math.Abs(imudata.Data[0, 0] - 1.0) < 0.001);
if (Flag_GravityFound_Y) // record the data
{
IMUDataInstance newIMUData = new IMUDataInstance(FrameIndex,
IMUcomms.Last_Acc1, IMUcomms.Last_Acc2, IMUcomms.Last_Acc3,
IMUcomms.Last_Angvel1, IMUcomms.Last_Angvel2, IMUcomms.Last_Angvel3);
IMUCapturedata.Add(newIMUData);
}
}
}