/// <summary>
/// Grabs data from accelerometer and gyroscope,normalizes it, and stores it into buffer for comparison later
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void OnActualSensorNewTData(object sender, InertialSensorData e)
{
//TO DO: If data gets pulled into buffer for comparison, it gets tagged with section ID
//getting acceleration data from accelerometer/gyroscope
const double angularConst = Math.PI / (16.4 * 180.0);
double xAcc = e.AccelerationAsVMD3.X;
double yAcc = e.AccelerationAsVMD3.Y;
double zAcc = e.AccelerationAsVMD3.Z;
double xRot = (double)e.gyropscopes[0] * angularConst;
double yRot = (double)e.gyropscopes[1] * angularConst;
double zRot = (double)e.gyropscopes[2] * angularConst;
double[] tempAngularActualAcc = new double[] { xRot, yRot, zRot };
double[] tempActualAcc = new double[] { xAcc, yAcc, zAcc };
AccelerationTime tempActualAccTime = new AccelerationTime();
tempActualAccTime.setVal(tempActualAcc, tempAngularActualAcc, e.NowInTicks);
if (!LastVirtualFiltered)
{
actualAcc.Enqueue(tempActualAccTime);
}
}
private void OnIdealSensorNewTData(object sender, VirtualSensorData e)
{
//derivation and store into buffer
AccelerationTime t = new AccelerationTime();
t.setVal(e.acceleration, e.NowInTicks);
}
private void MyFunctionToDealWithGettingData(object sender, InertialSensorData e)
{
const double angularConst = Math.PI / (16.4 * 180);
//getting acceleration data from sensors
double xAcc = (double)e.Accelarometers[0] / 2080;
double yAcc = (double)e.Accelarometers[1] / 2080;
double zAcc = (double)e.Accelarometers[2] / 2080;
double xRot = (double)e.gyropscopes[0] * angularConst;
double yRot = (double)e.gyropscopes[1] * angularConst;
double zRot = (double)e.gyropscopes[2] * angularConst;
double[] tempAngularActualAcc = new double[] { xRot, yRot, zRot };
double[] tempActualAcc = new double[] { xAcc, yAcc, zAcc };
AccelerationTime tempActualAccTime = new AccelerationTime();
tempActualAccTime.setVal(tempActualAcc, tempAngularActualAcc, e.NowInTicks);
actualAcc.Enqueue(tempActualAccTime);
}
/// <summary>
/// Stores virtual accleration data into buffer
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void OnIdealSensorNewTData(object sender, VirtualSensorData e)
{
//TO DO: IF data gets pulled into buffer, gets tagged with section ID? Wait.. thought we were tagging all data touched??
//regardless, no longer doing this here.
//e.section = this.CalibrationCount;
//DataTracker.CurrentSection = DataTracker.SectionCounter;
//derivation and store into buffer
AccelerationTime t = new AccelerationTime();
if (ICherryPicker.isDataGood(e.acceleration, !e.isinferredornottracked))
{
//IF THIS CONDITIONAL IS CHANGED, IT MUST ALSO BE CHANGED IN THE DATA PRODUCERS.
t.setVal(e.acceleration, e.NowInTicks, !e.isinferredornottracked); //if it's good, assign the proper current value - maybe we need to move this if statement to sensor producer
virtualAcc.Enqueue(t);
LastVirtualFiltered = false;
}
else
{
LastVirtualFiltered = true;
//DataTracker.CurrentSection = 0;
}
}
