/// <summary>
/// Handle periodic sensor readings from the brick
/// </summary>
/// <param name="update"></param>
private void NotificationHandler(pxbrick.LegoSensorUpdate update)
{
I2CResponseMindSensorsAccelerationSensor inputValues = new I2CResponseMindSensorsAccelerationSensor(update.Body.CommandData);
if (inputValues.Success)
{
double x, y, z;
if (_state.ZeroOffset == null)
{
x = inputValues.X;
y = inputValues.Y;
z = inputValues.Z;
}
else
{
// Adjust Zero Offset
x = (inputValues.X + 256.0 - _state.ZeroOffset.X) % 256.0;
y = (inputValues.Y + 256.0 - _state.ZeroOffset.Y) % 256.0;
z = (inputValues.Z + 256.0 - _state.ZeroOffset.Z) % 256.0;
}
_state.Tilt.TimeStamp = inputValues.TimeStamp;
_state.Tilt.X = x;
_state.Tilt.Y = y;
_state.Tilt.Z = z;
SendNotification <AccelerometerUpdate>(_subMgrPort, _state.Tilt);
}
}
/// <summary>
/// Handle periodic sensor readings from the brick
/// </summary>
/// <param name="update"></param>
private void NotificationHandler(pxbrick.LegoSensorUpdate update)
{
I2CResponseHiTechnicAccelerationSensor inputValues = new I2CResponseHiTechnicAccelerationSensor(update.Body.CommandData);
if (inputValues.Success)
{
_state.Tilt.TimeStamp = inputValues.TimeStamp;
if (_state.ZeroOffset == null)
{
_state.Tilt.X = inputValues.X;
_state.Tilt.Y = inputValues.Y;
_state.Tilt.Z = inputValues.Z;
}
else
{
// Adjust Zero Offset
_state.Tilt.X = (inputValues.X + 512.0 - _state.ZeroOffset.X) % 1024.0 - 512.0;
_state.Tilt.Y = (inputValues.Y + 512.0 - _state.ZeroOffset.Y) % 1024.0 - 512.0;
_state.Tilt.Z = (inputValues.Z + 512.0 - _state.ZeroOffset.Z) % 1024.0 - 512.0;
}
SendNotification <AccelerometerUpdate>(_subMgrPort, _state.Tilt);
}
}
/// <summary>
/// Handle periodic sensor readings from the pxbrick
/// </summary>
/// <param name="update"></param>
private void NotificationHandler(pxbrick.LegoSensorUpdate update)
{
I2CResponseHiTechnicCompassSensor inputValues = new I2CResponseHiTechnicCompassSensor(update.Body.CommandData);
if (inputValues.Success && inputValues.Heading < 360)
{
if (_state.Heading.Degrees != (double)inputValues.Heading || _state.Heading.TimeStamp == DateTime.MinValue)
{
_state.Heading.TimeStamp = inputValues.TimeStamp;
_state.Heading.Degrees = (double)inputValues.Heading;
SendNotification <CompassSensorUpdate>(_subMgrPort, _state.Heading);
SendNotification <pxanalogsensor.Replace>(_genericSubMgrPort, SyncGenericState());
}
}
}