private void OnDataRecieved(Object sender, Phidgets.Events.SpatialDataEventArgs e)
{
Console.WriteLine();
}
void spatial_SpatialData(object sender, Phidgets.Events.SpatialDataEventArgs e)
{
//This displays a vector representing the measured field in red, and after calibration the calibrated field in green
if (e.spatialData[0].MagneticField.Length == 3)
{
lock (p)
{
if (twoAxisButton.Checked)
{
p.originalVertices[4] = new Vector3(
e.spatialData[0].MagneticField[0],
e.spatialData[0].MagneticField[1],
-e.spatialData[0].MagneticField[2]);
if (calibrated)
{
Vector3 rawData = new Vector3(e.spatialData[0].MagneticField[0], e.spatialData[0].MagneticField[1], e.spatialData[0].MagneticField[2]);
Vector3 calibratedData = Matrix3x3.Multiply(Vector3.Subtract(rawData, cal.offset), cal.gainAndTransform);
//apply local mag field - calibrate returns a unit (mag 1) field
calibratedData = Vector3.Multiply(double.Parse(localFieldTextBox.Text), calibratedData);
p.originalVertices[5] = new Vector3(
calibratedData.X,
calibratedData.Y,
-calibratedData.Z);
}
}
else
{
p.originalVertices[4] = new Vector3(
e.spatialData[0].MagneticField[0],
e.spatialData[0].MagneticField[2],
-e.spatialData[0].MagneticField[1]);
if (calibrated)
{
Vector3 rawData = new Vector3(e.spatialData[0].MagneticField[0], e.spatialData[0].MagneticField[1], e.spatialData[0].MagneticField[2]);
Vector3 calibratedData = Matrix3x3.Multiply(Vector3.Subtract(rawData, cal.offset), cal.gainAndTransform);
//apply local mag field - calibrate returns a unit (mag 1) field
calibratedData = Vector3.Multiply(double.Parse(localFieldTextBox.Text), calibratedData);
p.originalVertices[5] = new Vector3(
calibratedData.X,
calibratedData.Z,
-calibratedData.Y);
}
}
}
}
//This samples magnetic field data
if (sampling)
{
lock (compassSamples)
{
if (sampling)
{
sampleCounter++;
if (sampleCounter >= samplesPerSample)
{
sampleCounter = 0;
if (e.spatialData[0].MagneticField.Length == 3)
{
compassSamples.Add(
new compassDataPoint(
e.spatialData[0].MagneticField[0],
e.spatialData[0].MagneticField[1],
e.spatialData[0].MagneticField[2]
)
);
//This draws the magnetic vectors as dots
lock (p)
{
if (twoAxisButton.Checked)
{
p.addPoint(new Vector3(
e.spatialData[0].MagneticField[0],
e.spatialData[0].MagneticField[1],
-e.spatialData[0].MagneticField[2]), Brushes.Red);
}
else
{
p.addPoint(new Vector3(
e.spatialData[0].MagneticField[0],
e.spatialData[0].MagneticField[2],
-e.spatialData[0].MagneticField[1]), Brushes.Red);
}
}
}
}
}
}
}
}
