public CollisionData(Robot robot, ResponseCode code, Byte seqNum, Byte[] data, AsynchronousId asyncCode, Int32 length)
: base(robot, code, seqNum, data, asyncCode, length)
{
if ((Int32)Data.Length == 16)
{
CollisionAccelerometerReading = new AccelerometerReading((Single)GetFloatFromBytes(0), (Single)GetFloatFromBytes(2), (Single)GetFloatFromBytes(4));
XAxisCollision = (Data[6] & 1) > 0;
YAxisCollision = (Data[6] >> 1 & 1) > 0;
CollisionPower = new TwoAxisSensor((Single)GetFloatFromBytes(7), (Single)GetFloatFromBytes(9));
SpheroSpeed = (Single)Data[11] / 255f;
Timestamp = GetIntFromBytes((Int32)Data[12]);
}
}
public CollisionData(Robot robot, ResponseCode code, Byte seqNum, Byte[] data, AsynchronousId asyncCode, Int32 length)
: base(robot, code, seqNum, data, asyncCode, length)
{
if ((Int32)Data.Length == 16)
{
CollisionAccelerometerReading = new AccelerometerReading((Single)GetFloatFromBytes(0), (Single)GetFloatFromBytes(2), (Single)GetFloatFromBytes(4));
XAxisCollision = (Data[6] & 1) > 0;
YAxisCollision = (Data[6] >> 1 & 1) > 0;
CollisionPower = new TwoAxisSensor((Single)GetFloatFromBytes(7), (Single)GetFloatFromBytes(9));
SpheroSpeed = (Single)Data[11] / 255f;
Timestamp = GetIntFromBytes((Int32)Data[12]);
}
}
public AsyncSensorData(Robot robot, ResponseCode code, Byte seqNum, Byte[] data, AsynchronousId asyncCode, Int32 length, UInt64 mask)
: base(robot, code, seqNum, data, asyncCode, length)
{
if ((Int32)Data.Length == CountBits(mask) * 2)
{
Int32 num = 0;
if (MaskHasFlag(mask, (DataStreaming)((Int64)458752)))
{
Attitude = new AttitudeReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2), (Single)GetFloatFromBytes(num + 4));
num = num + 6;
}
if (MaskHasFlag(mask, (DataStreaming)((Int64)57344)))
{
Accelorometer = new AccelerometerReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2), (Single)GetFloatFromBytes(num + 4));
num = num + 6;
}
if (MaskHasFlag(mask, (DataStreaming)((Int64)7168)))
{
Gyrometer = new GyrometerReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2), (Single)GetFloatFromBytes(num + 4));
num = num + 6;
}
if (MaskHasFlag(mask, DataStreaming.Quaternion))
{
Quaternion = new QuaternionReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2), (Single)GetFloatFromBytes(num + 4), (Single)GetFloatFromBytes(num + 6));
num = num + 8;
}
if (MaskHasFlag(mask, DataStreaming.Location))
{
Location = new LocationReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2));
num = num + 4;
}
if (MaskHasFlag(mask, DataStreaming.Velocity))
{
Velocity = new VelocityReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2));
num = num + 4;
}
}
}
public AsyncSensorData(Robot robot, ResponseCode code, Byte seqNum, Byte[] data, AsynchronousId asyncCode, Int32 length, UInt64 mask)
: base(robot, code, seqNum, data, asyncCode, length)
{
if ((Int32)Data.Length == CountBits(mask) * 2)
{
Int32 num = 0;
if (MaskHasFlag(mask, (DataStreaming)((Int64)458752)))
{
Attitude = new AttitudeReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2), (Single)GetFloatFromBytes(num + 4));
num = num + 6;
}
if (MaskHasFlag(mask, (DataStreaming)((Int64)57344)))
{
Accelorometer = new AccelerometerReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2), (Single)GetFloatFromBytes(num + 4));
num = num + 6;
}
if (MaskHasFlag(mask, (DataStreaming)((Int64)7168)))
{
Gyrometer = new GyrometerReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2), (Single)GetFloatFromBytes(num + 4));
num = num + 6;
}
if (MaskHasFlag(mask, DataStreaming.Quaternion))
{
Quaternion = new QuaternionReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2), (Single)GetFloatFromBytes(num + 4), (Single)GetFloatFromBytes(num + 6));
num = num + 8;
}
if (MaskHasFlag(mask, DataStreaming.Location))
{
Location = new LocationReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2));
num = num + 4;
}
if (MaskHasFlag(mask, DataStreaming.Velocity))
{
Velocity = new VelocityReading((Single)GetFloatFromBytes(num), (Single)GetFloatFromBytes(num + 2));
num = num + 4;
}
}
}
private void OnAccelerometerUpdated(object sender, AccelerometerReading reading) {
AccelerometerX.Text = "" + reading.X;
AccelerometerY.Text = "" + reading.Y;
AccelerometerZ.Text = "" + reading.Z;
}
private void OnAccelerometerUpdated(object sender, AccelerometerReading reading)
{
float dx = 100.0F * reading.X;
float dy = 100.0F * reading.Y;
double radian = Math.Atan2(dx, dy);
int kakudo = (int)(radian * 180.0D / Math.PI);
if (kakudo < 0) kakudo = 360 + kakudo;
if (kakudo < 0) kakudo = 0;
if (kakudo > 359) kakudo = 359;
float kyori = (float)Math.Sqrt(Math.Pow(reading.X, 2) + Math.Pow(reading.Y, 2));
if (m_target != null)
{
m_target.Roll(kakudo, kyori);
}
}
