/// <summary>
/// Constructs the Calibration class, passing the associated IMU number and parent IMUConnection instance.
/// Looks for the associated calibration file and attempts to read it if it exists, else creates a new one.
/// </summary>
/// <param name="_IMU_number">IMU device number.</param>
/// <param name="_IMU_connection"> Parent IMU connection instance.</param>
public Calibration(string _IMU_number, IMUConnection _IMU_connection)
{
populate_variables();
IMU_number = _IMU_number;
IMU_connection = _IMU_connection;
bool use_calibration = IMU_connection.use_calibration;
path += @"C:\Users\Nathan\Dev\Imperial\IMU\Avatar\NUClass\calibrationFiles" + IMU_number + ".txt"; //MMark.Info.MMarkInfo.MMarkResources + "IMU_Memory\\MagCali\\" + IMU_number + ".txt";
if (File.Exists(path) && use_calibration)
{
System.Diagnostics.Debug.WriteLine(IMU_number.ToString() + " ACTIVATED");
try
{
string[] CalibrationValues = File.ReadAllLines(path);
for (var i = 0; i < 3; i++)
{
variables["GYRO"][axes[i]] = int.Parse(CalibrationValues[i]);
variables["ACCEL"][axes[i]] = int.Parse(CalibrationValues[(i + 3)]);
variables["MAG"][axes[i]] = int.Parse(CalibrationValues[(i + 6)]);
}
valid_config_file = true;
}
catch (Exception)
{
valid_config_file = false;
}
}
System.Diagnostics.Debug.WriteLine(valid_config_file);
}
/// <summary>
/// Constructs the class and assigns global variables from the passed parameters, then sets up
/// basic connection variables.
/// </summary>
/// <param name="_IMU_connection"> Parent IMUConnection instance.</param>
/// <param name="_bt_address"> Bluetooth address for IMU device.</param>
/// <param name="_debug_connection_reports"> Produce debug report?</param>
/// <param name="_connection_info"> Get IMU firmware information? </param>
public BTManager(IMUConnection _IMU_connection, BluetoothAddress _bt_address, bool _debug_connection_reports, bool _connection_info)
{
IMU_connection = _IMU_connection;
debug_connection_reports = _debug_connection_reports;
bt_address = _bt_address;
connection_info = _connection_info;
db_report("Bluetooth Manager Created.");
establish_bluetooth_connection();
}
