public async Task IMU_NeoPixel(int val)
{
INeoPixel neopixel = metawear.GetModule <INeoPixel>();
IStrand strand = neopixel.InitializeStrand(1, ColorOrdering.WS2811_GRB, StrandSpeed.Slow, 0, 3);
strand = neopixel.LookupStrand(1);
if (val == 0)
{
strand.Hold();
strand.SetRgb(0, 0, 0, 0);
strand.SetRgb(1, 0, 0, 0);
strand.SetRgb(2, 0, 0, 0);
strand.Release();
}
else if (val == 1)
{
strand.Hold();
strand.SetRgb(0, 0, 20, 0);
strand.SetRgb(1, 0, 20, 0);
strand.SetRgb(2, 0, 20, 0);
strand.Release();
}
else if (val == 2)
{
strand.Hold();
strand.SetRgb(0, 0, 0, 20);
strand.SetRgb(1, 0, 0, 20);
strand.SetRgb(2, 0, 0, 20);
strand.Release();
}
else if (val == 3)
{
strand.Hold();
strand.SetRgb(0, 0, 0, 0);
strand.SetRgb(1, 0, 0, 0);
strand.SetRgb(2, 0, 0, 0);
strand.Release();
}
else if (val == 4)
{
strand.Hold();
strand.SetRgb(0, 0, 0, 0);
strand.SetRgb(1, 0, 0, 0);
strand.SetRgb(2, 0, 0, 0);
strand.Release();
}
else if (val == 5)
{
strand.Hold();
strand.SetRgb(0, 0, 0, 0);
strand.SetRgb(1, 0, 0, 0);
strand.SetRgb(2, 0, 0, 0);
strand.Release();
}
}
///------------------------------------------ IMU Initialise FUNCTION ----------------------------------------------------------
private async Task IMU_initialize(NavigationEventArgs e)
{
try
{
// Sensor Configuration
metawear = MbientLab.MetaWear.Win10.Application.GetMetaWearBoard(e.Parameter as BluetoothLEDevice);
//ILed led = metawear.GetModule<ILed>();
//led.EditPattern(Color.Green, duration: 500, highTime: 250, high: 16, low: 0, count: 50);
//led.Play();
// ## Reset Neopixel to Off (if on before)
INeoPixel neopixel = metawear.GetModule <INeoPixel>();
IStrand strand = neopixel.InitializeStrand(1, ColorOrdering.WS2811_GRB, StrandSpeed.Slow, 0, 3);
strand = neopixel.LookupStrand(1);
strand.Hold();
strand.SetRgb(0, 0, 0, 0);
strand.SetRgb(1, 0, 0, 0);
strand.SetRgb(2, 0, 0, 0);
strand.Release();
//strand.Hold();
//strand.SetRgb(0, 20, 0, 0);
//strand.SetRgb(1, 0, 20, 0);
//strand.SetRgb(2, 0, 0, 20);
//strand.Release();
//strand.Rotate(RotationDirection.Away, 500);
//await progranScheduleRead();
//IScheduledTask mwTask;
//if ((mwTask = metawear.LookupScheduledTask((byte)0)) != null)
//{
// // start the task
// mwTask.Start();
// // stop the task
// mwTask.Stop();
// // remove the task, id 0 no longer valid id
// mwTask.Remove();
//}
//// Run a motor for 1000ms at 50% strength
//metawear.GetModule<IHaptic>().StartMotor(1000, 100f);
//metawear.GetModule<IHaptic>().StartMotor(1000, 95f);
//metawear.GetModule<IHaptic>().StartMotor(1000, 90f);
//metawear.GetModule<IHaptic>().StartMotor(1000, 85f);
//metawear.GetModule<IHaptic>().StartMotor(1000, 80f);
//metawear.GetModule<IHaptic>().StartMotor(1000, 75f);
//metawear.GetModule<IHaptic>().StartMotor(1000, 70f);
//metawear.GetModule<IHaptic>().StartMotor(1000, 65f);
//metawear.GetModule<IHaptic>().StartMotor(1000, 60f);
//metawear.GetModule<IHaptic>().StartMotor(1000, 55f);
//metawear.GetModule<IHaptic>().StartMotor(1000, 50f);
//metawear.GetModule<IHaptic>().StartMotor(1000, 45f);
//metawear.GetModule<IHaptic>().StartMotor(1000, 40f);
//metawear.GetModule<IHaptic>().StartMotor(1000, 35f);
//metawear.GetModule<IHaptic>().StartMotor(1000, 30f);
//metawear.GetModule<IHaptic>().StartMotor(1000, 25f);
//// turn off leds from index [0, 59] (60 leds)
//strand.Clear(0, 59);
//// free
//strand.Free();
sensorfusion = metawear.GetModule <ISensorFusionBosch>();
sensorfusion.Configure(mode: Mode.Ndof, ar: AccRange._2g, gr: GyroRange._500dps);
ISettings settings = metawear.GetModule <ISettings>();
settings.EditBleConnParams(maxConnInterval: 7.5f);
await settings.Battery.AddRouteAsync(source => source.Stream(data => Console.WriteLine("battery = " + data.Value <BatteryState>())));
settings.Battery.Read();
IMacro macro = metawear.GetModule <IMacro>();
func_IMU_init_success = true;
await sensorfusion.EulerAngles.AddRouteAsync(source => source.Stream(async data =>
{
var value = data.Value <EulerAngles>();
imu_data = data;
//set time_base to false to reset time_base
if (time_base_set == false)
{
time_base_ms = data.Timestamp.Millisecond;
time_base_sec = data.Timestamp.Second;
time_base_min = data.Timestamp.Minute;
time_base_hour = data.Timestamp.Hour;
base_elapsed_millisec = time_base_ms + (1000 * time_base_sec) + (1000 * 60 * time_base_min) + (1000 * 60 * 60 * time_base_hour);
time_base_set = true;
}
//Calculate elapsed time
time_current_ms = data.Timestamp.Millisecond;
time_current_sec = data.Timestamp.Second;
time_current_min = data.Timestamp.Minute;
time_current_hour = data.Timestamp.Hour;
current_elapsed_millisec = time_current_ms + (1000 * time_current_sec) + (1000 * 60 * time_current_min) + (1000 * 60 * 60 * time_current_hour);
trial_time_ms = current_elapsed_millisec - base_elapsed_millisec;
angle_maze = value.Heading;
if (data_save_en == true & trial_active == true)
{
saveToCSV(data, false); //Start this
}
if (func_IMU_euler_init_already_trig == false)
{
func_IMU_euler_init_success = true;
func_IMU_euler_init_already_trig = true;
}
}));
}
catch (Exception ex)
{
System.Diagnostics.Debug.WriteLine("IMU init error" + ex.Message);
}
}
