public void getGyros(mpuCallbackData callback, int delay)
{
if (this.deviceReady && this.mpu != null)
{
try
{
for (;;)
{
double[] data = new double[3];
byte[] ReadBuf = new byte[6];
this.mpu.WriteRead(new byte[] { GYRO_XOUT_H }, ReadBuf);
data[0] = BitConverter.ToInt16(new byte[] { ReadBuf[1], ReadBuf[0] }, 0);
data[1] = BitConverter.ToInt16(new byte[] { ReadBuf[3], ReadBuf[2] }, 0);
data[2] = BitConverter.ToInt16(new byte[] { ReadBuf[5], ReadBuf[4] }, 0);
callback(data);
Task.Delay(delay).Wait();
}
}
catch (Exception err)
{
Debug.WriteLine(err.Message);
}
}
}
public void getMotion6(mpuCallbackData callback, int delay)
{
if (this.deviceReady && this.mpu != null)
{
try
{
for (;;)
{
double[] data = new double[9];
byte[] ReadBuf = new byte[14];
this.mpu.WriteRead(new byte[] { ACCEL_XOUT_H }, ReadBuf);
data[0] = BitConverter.ToInt16(new byte[] { ReadBuf[1], ReadBuf[0] }, 0);
data[1] = BitConverter.ToInt16(new byte[] { ReadBuf[3], ReadBuf[2] }, 0);
data[2] = BitConverter.ToInt16(new byte[] { ReadBuf[5], ReadBuf[4] }, 0);
data[3] = BitConverter.ToInt16(new byte[] { ReadBuf[7], ReadBuf[8] }, 0);
data[4] = BitConverter.ToInt16(new byte[] { ReadBuf[9], ReadBuf[10] }, 0);
data[5] = BitConverter.ToInt16(new byte[] { ReadBuf[13], ReadBuf[12] }, 0);
if (this.magnetometer != null)
{
var tmpData = this.magnetometer.getMagnetometer();
data[6] = tmpData[0];
data[7] = tmpData[1];
data[8] = tmpData[2];
}
callback(data);
Task.Delay(delay).Wait();
}
}
catch (Exception err)
{
Debug.WriteLine(err.Message);
}
}
}
public void getGyros(mpuCallbackData callback)
{
this.getGyros(callback, 1000);
}
public void getAccel(mpuCallbackData callback)
{
this.getAccel(callback, 1000);
}
public void getMotion6(mpuCallbackData callback)
{
this.getMotion6(callback, 1000);
}
