private static string UID = "XYZ"; // Change XYZ to the UID of your IMU Bricklet 3.0
// Callback function for all data callback
static void AllDataCB(BrickletIMUV3 sender, short[] acceleration,
short[] magneticField, short[] angularVelocity,
short[] eulerAngle, short[] quaternion,
short[] linearAcceleration, short[] gravityVector,
short temperature, byte calibrationStatus)
{
Console.WriteLine("Acceleration [X]: " + acceleration[0] / 100.0 + " m/s²");
Console.WriteLine("Acceleration [Y]: " + acceleration[1] / 100.0 + " m/s²");
Console.WriteLine("Acceleration [Z]: " + acceleration[2] / 100.0 + " m/s²");
Console.WriteLine("Magnetic Field [X]: " + magneticField[0] / 16.0 + " µT");
Console.WriteLine("Magnetic Field [Y]: " + magneticField[1] / 16.0 + " µT");
Console.WriteLine("Magnetic Field [Z]: " + magneticField[2] / 16.0 + " µT");
Console.WriteLine("Angular Velocity [X]: " + angularVelocity[0] / 16.0 + " °/s");
Console.WriteLine("Angular Velocity [Y]: " + angularVelocity[1] / 16.0 + " °/s");
Console.WriteLine("Angular Velocity [Z]: " + angularVelocity[2] / 16.0 + " °/s");
Console.WriteLine("Euler Angle [Heading]: " + eulerAngle[0] / 16.0 + " °");
Console.WriteLine("Euler Angle [Roll]: " + eulerAngle[1] / 16.0 + " °");
Console.WriteLine("Euler Angle [Pitch]: " + eulerAngle[2] / 16.0 + " °");
Console.WriteLine("Quaternion [W]: " + quaternion[0] / 16383.0);
Console.WriteLine("Quaternion [X]: " + quaternion[1] / 16383.0);
Console.WriteLine("Quaternion [Y]: " + quaternion[2] / 16383.0);
Console.WriteLine("Quaternion [Z]: " + quaternion[3] / 16383.0);
Console.WriteLine("Linear Acceleration [X]: " + linearAcceleration[0] / 100.0 + " m/s²");
Console.WriteLine("Linear Acceleration [Y]: " + linearAcceleration[1] / 100.0 + " m/s²");
Console.WriteLine("Linear Acceleration [Z]: " + linearAcceleration[2] / 100.0 + " m/s²");
Console.WriteLine("Gravity Vector [X]: " + gravityVector[0] / 100.0 + " m/s²");
Console.WriteLine("Gravity Vector [Y]: " + gravityVector[1] / 100.0 + " m/s²");
Console.WriteLine("Gravity Vector [Z]: " + gravityVector[2] / 100.0 + " m/s²");
Console.WriteLine("Temperature: " + temperature + " °C");
Console.WriteLine("Calibration Status: " + Convert.ToString(calibrationStatus, 2));
Console.WriteLine("");
}
private static string UID = "XYZ"; // Change XYZ to the UID of your IMU Bricklet 3.0
// Callback function for quaternion callback
static void QuaternionCB(BrickletIMUV3 sender, short w, short x, short y, short z)
{
Console.WriteLine("Quaternion [W]: " + w / 16383.0);
Console.WriteLine("Quaternion [X]: " + x / 16383.0);
Console.WriteLine("Quaternion [Y]: " + y / 16383.0);
Console.WriteLine("Quaternion [Z]: " + z / 16383.0);
Console.WriteLine("");
}
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletIMUV3 imu = new BrickletIMUV3(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Register quaternion callback to function QuaternionCB
imu.QuaternionCallback += QuaternionCB;
// Set period for quaternion callback to 0.1s (100ms)
imu.SetQuaternionCallbackConfiguration(100, false);
Console.WriteLine("Press enter to exit");
Console.ReadLine();
ipcon.Disconnect();
}
private static string UID = "XYZ"; // Change XYZ to the UID of your IMU Bricklet 3.0
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletIMUV3 imu = new BrickletIMUV3(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Get current quaternion
short w, x, y, z;
imu.GetQuaternion(out w, out x, out y, out z);
Console.WriteLine("Quaternion [W]: " + w / 16383.0);
Console.WriteLine("Quaternion [X]: " + x / 16383.0);
Console.WriteLine("Quaternion [Y]: " + y / 16383.0);
Console.WriteLine("Quaternion [Z]: " + z / 16383.0);
Console.WriteLine("Press enter to exit");
Console.ReadLine();
ipcon.Disconnect();
}
