public Vector read_vector(Bno055VectorType vec, int count = 3)
{
var data = read_bytes((Bno055Registers)vec, count * 2);
var rawResult = new int[count];
for (int i = 0; i < count; i++)
{
rawResult[i] = ((data[i * 2 + 1] << 8) | data[i * 2]);
if (rawResult[i] > 32767)
{
rawResult[i] -= 65536;
}
}
var modifier = 100.0f;
// ReSharper disable once SwitchStatementMissingSomeCases - missing cases = 100.0f
switch (vec)
{
case Bno055VectorType.VectorMagnetometer:
case Bno055VectorType.VectorEuler:
modifier = 16.0f;
break;
case Bno055VectorType.VectorGyroscope:
modifier = 900.0f;
break;
}
return(new Vector(rawResult[0] / modifier, rawResult[1] / modifier, rawResult[2] / modifier));
}
public Vector read_vector(Bno055VectorType vec, int count = 3) {
var data = read_bytes((Bno055Registers)vec, count*2);
var rawResult = new int[count];
for (int i = 0; i < count; i++) {
rawResult[i] = ((data[i*2 + 1] << 8) | data[i*2]);
if (rawResult[i] > 32767) rawResult[i] -= 65536;
}
var modifier = 100.0f;
// ReSharper disable once SwitchStatementMissingSomeCases - missing cases = 100.0f
switch (vec) {
case Bno055VectorType.Vector_Magnetometer:
case Bno055VectorType.Vector_Euler:
modifier = 16.0f;
break;
case Bno055VectorType.Vector_Gyroscope:
modifier = 900.0f;
break;
}
return new Vector()
{
X = rawResult[0] / modifier,
Y = rawResult[1] / modifier,
Z = rawResult[2] / modifier
};
}