public void AddMeasurement(IBandGyroscopeReading reading)
{
var calibratedXReading = reading.AngularVelocityX - 0.0232528209480614;
var calibratedYReading = reading.AngularVelocityY + 0.648518794348248;
var calibratedZReading = reading.AngularVelocityZ - 0.162816270729729;
if (_lastGyroStamp == default(DateTimeOffset))
{
_lastVelocity = new Vector(calibratedXReading, calibratedYReading, calibratedZReading);
_lastGyroStamp = reading.Timestamp;
return;
}
var msSinceLast = (reading.Timestamp - _lastGyroStamp).TotalMilliseconds;
_lastGyroStamp = reading.Timestamp;
if (msSinceLast < 0.01)
return;
var orientationX = (calibratedXReading + (calibratedXReading - _lastVelocity.X) / 2.0) * msSinceLast / 1000.0;
var orientationY = (calibratedYReading + (calibratedYReading - _lastVelocity.Y) / 2.0) * msSinceLast / 1000.0;
var orientationZ = (calibratedZReading + (calibratedZReading - _lastVelocity.Z) / 2.0) * msSinceLast / 1000.0;
_orientation = _orientation.Add(orientationX, orientationY, orientationZ);
_lastVelocity = new Vector(calibratedXReading, calibratedYReading, calibratedZReading);
}
public void AddMeasurement(IBandGyroscopeReading reading)
{
var calibratedXReading = reading.AngularVelocityX - 0.0232528209480614;
var calibratedYReading = reading.AngularVelocityY + 0.648518794348248;
var calibratedZReading = reading.AngularVelocityZ - 0.162816270729729;
if (_lastGyroStamp == default(DateTimeOffset))
{
_lastVelocity = new Vector(calibratedXReading, calibratedYReading, calibratedZReading);
_lastGyroStamp = reading.Timestamp;
return;
}
var msSinceLast = (reading.Timestamp - _lastGyroStamp).TotalMilliseconds;
_lastGyroStamp = reading.Timestamp;
if (msSinceLast < 0.01)
{
return;
}
var orientationX = (calibratedXReading + (calibratedXReading - _lastVelocity.X) / 2.0) * msSinceLast / 1000.0;
var orientationY = (calibratedYReading + (calibratedYReading - _lastVelocity.Y) / 2.0) * msSinceLast / 1000.0;
var orientationZ = (calibratedZReading + (calibratedZReading - _lastVelocity.Z) / 2.0) * msSinceLast / 1000.0;
_orientation = _orientation.Add(orientationX, orientationY, orientationZ);
_lastVelocity = new Vector(calibratedXReading, calibratedYReading, calibratedZReading);
}
public BandGyroscopeSensorReadingChangedEventArgs(IBandGyroscopeReading sensorReading)
{
if (sensorReading == null)
{
throw new ArgumentNullException("sensorReading");
}
this.SensorReading = sensorReading;
}
public static GyrosocpeReading FromBandSensor(IBandGyroscopeReading reading)
{
return new GyrosocpeReading
{
AngularVelocityX = reading.AngularVelocityX,
AngularVelocityY = reading.AngularVelocityY,
AngularVelocityZ = reading.AngularVelocityZ,
Timestamp = reading.Timestamp
};
}
private void Gyroscope_ReadingChanged(object sender, BandSensorReadingEventArgs <IBandGyroscopeReading> e)
{
IBandGyroscopeReading gyroscropeRead = e.SensorReading;
data.gyroscopeAngVel = new VectorData3D <double>()
{
X = gyroscropeRead.AngularVelocityX,
Y = gyroscropeRead.AngularVelocityY,
Z = gyroscropeRead.AngularVelocityZ
};
}
private void Gyroscope_ReadingChanged(object sender, BandSensorReadingEventArgs <IBandGyroscopeReading> e)
{
IBandGyroscopeReading s = e.SensorReading;
_gyroscopeHandler.AddMeasurement(s);
if (e.SensorReading.AccelerationX > 1.2)
{
GotGyroHighXAcceleration?.Invoke();
}
GotGyroReading?.Invoke();
}
string FormatGyroscope(IBandGyroscopeReading reading) =>
$"XYZ:{reading.AccelerationX:F2},{reading.AccelerationY:F2},{reading.AccelerationZ:F2}. AVXYZ:{reading.AngularVelocityX:F2}, {reading.AngularVelocityY:F2}, {reading.AngularVelocityZ:F2}";
private async void Start_Click(object sender, RoutedEventArgs e)
{
this.Stop.IsEnabled = true;
this.Start.IsEnabled = false;
StatusMessage.Text = "";
// load list point stored in previous collections
//ListPoint = store.LoadDataPoint(FileName);
unknown.Clear();
try
{
IBandInfo[] pairedBands = await BandClientManager.Instance.GetBandsAsync();
if (pairedBands.Length < 1)
{
this.StatusMessage.Text = "This app requires a Microsoft Band paired to your device. Also make sure that you have the latest firmware installed on your Band, as provided by the latest Microsoft Health app.";
return;
}
// Connect to Microsoft Band.
using (IBandClient bandClient = await BandClientManager.Instance.ConnectAsync(pairedBands[0]))
{
int samplesReceivedAcc = 0; // the number of Accelerometer samples received
int samplesReceivedGyro = 0; // the number of Gyroscope samples received
Stopwatch myWatch = Stopwatch.StartNew();
// Subscribe to Accelerometer data.
bandClient.SensorManager.Accelerometer.ReadingChanged += (s, args) =>
bandClient.SensorManager.Gyroscope.ReadingChanged += (s1, args1) =>
{
Point point = new Point();
samplesReceivedAcc++;
if ((samplesReceivedAcc % 50) == 0)
{
// Only report occasional Accelerometer data
IBandAccelerometerReading readings = args.SensorReading;
CoreApplication.MainView.CoreWindow.Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
this.Accx.Text = readings.AccelerationX.ToString();
this.Accy.Text = readings.AccelerationY.ToString();
this.Accz.Text = readings.AccelerationZ.ToString();
point.setAccelerometter(readings.AccelerationX, readings.AccelerationY, readings.AccelerationZ);
});
}
samplesReceivedGyro++;
if ((samplesReceivedGyro % 50) == 0)
{
// Only report occasional Gyroscope data
IBandGyroscopeReading readings = args1.SensorReading;
CoreApplication.MainView.CoreWindow.Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () =>
{
this.Gyx.Text = readings.AccelerationX.ToString();
this.Gyy.Text = readings.AccelerationY.ToString();
this.Gyz.Text = readings.AccelerationZ.ToString();
Clock.Text = myWatch.Elapsed.ToString();
point.setGyroscope(readings.AccelerationX, readings.AccelerationY, readings.AccelerationZ);
// point.SampleName = samplename;
unknown.Add(point);
});
}
};
await bandClient.SensorManager.Accelerometer.StartReadingsAsync();
await bandClient.SensorManager.Gyroscope.StartReadingsAsync();
// Receive sensor data for a while
await Task.Delay(TimeSpan.FromSeconds(2));
// Stop the sensor subscriptions
await bandClient.SensorManager.Accelerometer.StopReadingsAsync();
await bandClient.SensorManager.Gyroscope.StopReadingsAsync();
}
}
catch (Exception ex)
{
this.StatusMessage.Text = ex.ToString();
}
}
