private void CrossDeviceMotion_Current_SensorValueChanged(object sender, SensorValueChangedEventArgs e)
{
switch(e.SensorType)
{
case MotionSensorType.Accelerometer:
System.Diagnostics.Debug.WriteLine("A: {0},{1},{2}", ((MotionVector)e.Value).X, ((MotionVector)e.Value).Y, ((MotionVector)e.Value).Z);
break;
case MotionSensorType.Compass:
System.Diagnostics.Debug.WriteLine("C: {0}", e.Value);
break;
case MotionSensorType.Gyroscope:
System.Diagnostics.Debug.WriteLine("G: {0},{1},{2}", ((MotionVector)e.Value).X, ((MotionVector)e.Value).Y, ((MotionVector)e.Value).Z);
break;
}
}
public void sensorRegistration( Object s,SensorValueChangedEventArgs a)
{
CrossDeviceMotion.Current.Start(MotionSensorType.Accelerometer, MotionSensorDelay.Ui);
CrossDeviceMotion.Current.Start(MotionSensorType.Magnetometer, MotionSensorDelay.Ui);
CrossDeviceMotion.Current.Start(MotionSensorType.Gyroscope, MotionSensorDelay.Ui);
//TODO explain each line of code here
float[] values = new float[3];
float[] valuesGyro = new float[3];
switch (a.SensorType)
{
case MotionSensorType.Accelerometer:
values[0] = (float)((MotionVector)a.Value).X;
values[1] = (float)((MotionVector)a.Value).Y;
values[2] = (float)((MotionVector)a.Value).Z;
filterLowPass(values, gravity, 0.98f);
orienGetter.setAccelerometerParam(gravity);
orienGetter.calculateAccMagOrientation();
degree = orienGetter.getFusOrientation();
dt = orienGetter.getDeltaT();
//degree = orienGetter.getOrientation(valuesGyro);
break;
case MotionSensorType.Magnetometer:
values[0] = (float)((MotionVector)a.Value).X;
values[1] = (float)((MotionVector)a.Value).Y;
values[2] = (float)((MotionVector)a.Value).Z;
orienGetter.setMagnetometerParam(values);
// filterLowPass(orienGetter.getOrientation(), orientation, 0.98f);
//for (int i = 0; i < 3; i++)
// degree[i] = (float)(orientation[i] * 180 / Math.PI);
//give a text title to current direction.
//str = directionEstimate(degree[0]);
//Console.WriteLine(str);
//transfer radian to degree
//for (int i = 0; i < 3; i++)
//{
// if (degree[i] < 0)
// degree[i] += 360;
//}
//Debug.WriteLine("Values: {0}, {1}, {2}, {3}", orientation[0], orientation[1], orientation[2], str);
break;
case MotionSensorType.Gyroscope:
if(!counter)
{
counter = true;
lastTimestamp = DateTime.Now.ToLocalTime().Ticks;
newTimestamp = DateTime.Now.ToLocalTime().Ticks;
}
dt = (newTimestamp-lastTimestamp)/Math.Pow(10,7);
lastTimestamp = newTimestamp;
valuesGyro[0] = (float)((MotionVector)a.Value).X;
valuesGyro[1] = (float)((MotionVector)a.Value).Y;
valuesGyro[2] = (float)((MotionVector)a.Value).Z;
orienGetter.gyroFunction(valuesGyro);
newTimestamp = DateTime.Now.ToLocalTime().Ticks;
degree = orienGetter.getFusOrientation();
break;
};
}
