public void OnAccelerometerData(SensorEvent e)
{
if (transmiting == true)
{
double x = e.Values[0];
double y = e.Values[1];
double z = e.Values[2];
double roll = Math.Atan(x / Math.Sqrt(Math.Pow(z, 2) + Math.Pow(y, 2)));
double pitch = Math.Atan(y / Math.Sqrt(Math.Pow(x, 2) + Math.Pow(z, 2)));
roll *= 180.0 / Math.PI;
pitch *= 180.0 / Math.PI;
tRoll = roll * rollGain;
tPitch = pitch * pitchGain;
if (parent.parent.mBluetoothConnection != null)
{
//byte[] msg = CommandProtocol.NewSimple(CommandProtocol.Cmd.setPitch, (float)tPitch);
parent.parent.mBluetoothConnection.SendMessage(CommandProtocol.NewSimple(CommandProtocol.Cmd.setPitch, (float)tPitch));
//byte[] msg2 = CommandProtocol.NewSimple(CommandProtocol.Cmd.setRoll, (float)tRoll);
parent.parent.mBluetoothConnection.SendMessage(CommandProtocol.NewSimple(CommandProtocol.Cmd.setRoll, (float)tRoll));
}
mTextView2.Text = string.Format("Pitch: {0:f}, Roll: {1:f}", tPitch, tRoll);
}
}
private void OnYaw(object sender, SeekBar.ProgressChangedEventArgs e)
{
//byte[] msg = CommandProtocol.NewSimple(CommandProtocol.Cmd.setYaw, real_values[5]);
if (parent.parent.mBluetoothConnection != null)
{
parent.parent.mBluetoothConnection.SendMessage(CommandProtocol.NewSimple(CommandProtocol.Cmd.setYaw, real_values[5]));
}
textViews[5].Text = String.Format("Yaw = {0:0.##} [deg]", real_values[5].ToString());
}
private void OnX(object sender, SeekBar.ProgressChangedEventArgs e)
{
//byte[] msg = CommandProtocol.NewSimple(CommandProtocol.Cmd.setX, real_values[0]);
if (parent.parent.mBluetoothConnection != null)
{
parent.parent.mBluetoothConnection.SendMessage(CommandProtocol.NewSimple(CommandProtocol.Cmd.setX, real_values[0]));
}
textViews[0].Text = String.Format("X = {0:0.##} [mm]", real_values[0].ToString());
textViews[0].Text = System.Text.Encoding.ASCII.GetString(CommandProtocol.NewSimple(CommandProtocol.Cmd.setX, real_values[0]));
}
