/// <summary>
/// Reset baseline of all elements
/// </summary>
/// <returns>true if successful; false otherwise.</returns>
public bool Tare()
{
ushort scaling = Settings.Scaling;
if (lastFrame_ == null)
{
return(false);
}
Settings.Baselines = new UInt16[lastFrame_.nSensors]; //Zeros
Settings.Scaling = 100;
PushSettingsToHardware();
Thread.Sleep(10); // Give it time to capture a new frame
SingleTactFrame newFrame = ReadSensorData();
UInt16[] newBaselines = new UInt16[newFrame.SensorDataRaw.Length];
for (int i = 0; i < newFrame.SensorDataRaw.Length; i++)
{
newBaselines[i] = (UInt16)(newFrame.SensorDataRaw[i] - 0xFF);
}
Settings.Baselines = newBaselines;
Settings.Scaling = scaling;
PushSettingsToHardware();
return(true);
}
public SingleTactFrame DeepClone()
{
SingleTactFrame toReturn = new SingleTactFrame();
toReturn.nSensors_ = this.nSensors;
toReturn.timeStamp_ = this.timeStamp_;
toReturn.sensorData_ = new double[nSensors_];
for (int i = 0; i < sensorData_.Length; i++)
toReturn.sensorData_[i] = sensorData_[i];
return toReturn;
}
public SingleTactFrame DeepClone()
{
SingleTactFrame toReturn = new SingleTactFrame();
toReturn.nSensors_ = this.nSensors;
toReturn.timeStamp_ = this.timeStamp_;
toReturn.sensorData_ = new double[nSensors_];
for (int i = 0; i < sensorData_.Length; i++)
{
toReturn.sensorData_[i] = sensorData_[i];
}
return(toReturn);
}
/// <summary>
/// Read sensor for new pressure measurement
/// </summary>
/// <returns>New frame if one is available</returns>
public SingleTactFrame ReadSensorData()
{
//Sample read code - reading sensor data
byte[] newByteData = arduino_.ReadFromMainRegister(128, 6, i2cAddress_); //Read 6 bytes of sensor from location 128 in main register
if (null != newByteData)
{
UInt16 itr = (UInt16)((newByteData[0 + ArduinoSingleTactDriver.TIMESTAMP_SIZE] << 8) + newByteData[1 + ArduinoSingleTactDriver.TIMESTAMP_SIZE]);
if (itr_ == itr && lastFrame_ != null)
{
return(lastFrame_);
}
itr_ = itr;
UInt32 timeStampRaw = (UInt32)((newByteData[0] << 24) + (newByteData[1] << 16) + (newByteData[2] << 8) + newByteData[3]);
if (isFirst == true)
{
isFirst = false;
startTime = timeStampRaw;
}
timeStampRaw -= startTime;
double timeStamp = (double)timeStampRaw / 10000.0; //10kHz clock
UInt16[] sensorData = new UInt16[(int)(newByteData.Length - ArduinoSingleTactDriver.TIMESTAMP_SIZE - 4) / 2];
//Do it manually to avoid confusion with Endianess - Windows is little, sensor is big.
//ToDo find a more elegent solution!
for (int i = 0; i < sensorData.Length; i++)
{
sensorData[i] = (UInt16)((newByteData[2 * i + 4 + ArduinoSingleTactDriver.TIMESTAMP_SIZE] << 8) + newByteData[2 * i + 5 + ArduinoSingleTactDriver.TIMESTAMP_SIZE]);
}
SingleTactFrame toReturn = new SingleTactFrame(sensorData, timeStamp);
lastFrame_ = toReturn.DeepClone(); // keep a local copy of the last frame, used in taring
return(toReturn);
}
else // USB has been unplugged
{
return(null);
}
}
/// <summary>
/// Add frame to frame list
/// </summary>
public void addFrame(SingleTactFrame frame)
{
_frameList.Add(frame);
}
/// <summary>
/// Read sensor for new pressure measurement
/// </summary>
/// <returns>New frame if one is available</returns>
public SingleTactFrame ReadSensorData()
{
//Sample read code - reading sensor data
byte[] newByteData = arduino_.ReadFromMainRegister(128, 6, i2cAddress_); //Read 6 bytes of sensor from location 128 in main register
if (null != newByteData)
{
UInt16 itr = (UInt16)((newByteData[0 + ArduinoSingleTactDriver.TIMESTAMP_SIZE] << 8) + newByteData[1 + ArduinoSingleTactDriver.TIMESTAMP_SIZE]);
if (itr_ != itr)
{
itr_ = itr;
UInt32 timeStampRaw = (UInt32)((newByteData[0] << 24) + (newByteData[1] << 16) + (newByteData[2] << 8) + newByteData[3]);
double timeStamp = (double)timeStampRaw / 10000.0; //10kHz clock
UInt16[] sensorData = new UInt16[(int)(newByteData.Length - ArduinoSingleTactDriver.TIMESTAMP_SIZE - 4) / 2];
//Do it manually to avoid confusion with Endianess - Windows is little, sensor is big.
//ToDo find a more elegent solution!
for (int i = 0; i < sensorData.Length; i++)
{
sensorData[i] = (UInt16)((newByteData[2 * i + 4 + ArduinoSingleTactDriver.TIMESTAMP_SIZE] << 8) + newByteData[2 * i + 5 + ArduinoSingleTactDriver.TIMESTAMP_SIZE]);
}
SingleTactFrame toReturn = new SingleTactFrame(sensorData, timeStamp);
lastFrame_ = toReturn.DeepClone();
return toReturn;
}
else
{
return null;
}
}
return null;
}
