private async void Connect(object sender, RoutedEventArgs args)
{
int selection = MetawearMacAddresses.SelectedIndex;
Debug.Print(sensors.ElementAt(selection).Address);
device = await BluetoothLEDevice.FromIdAsync(sensors.ElementAt(selection).Address);
board = MbientLab.MetaWear.Win10.Application.GetMetaWearBoard(device);
ConnectionStatus.Text = "Connecting...";
await board.InitializeAsync();
ConnectionStatus.Text = "Connected.";
ILed led = board.GetModule <ILed>();
led.EditPattern(MbientLab.MetaWear.Peripheral.Led.Color.Green, MbientLab.MetaWear.Peripheral.Led.Pattern.Blink);
led.Play();
ConnectButton.IsEnabled = false;
DisconnectButton.IsEnabled = true;
IAccelerometerBmi160 accelerometer = board.GetModule <IAccelerometerBmi160>();
accelerometer.Configure(odr: MbientLab.MetaWear.Sensor.AccelerometerBmi160.OutputDataRate._100Hz, range: MbientLab.MetaWear.Sensor.AccelerometerBosch.DataRange._4g);
await accelerometer.PackedAcceleration.AddRouteAsync(source => source.Stream(async data => await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.High, () =>
{
accelerationData.Text = data.Value <Acceleration>().ToString();
})));
IGyroBmi160 gyro = board.GetModule <IGyroBmi160>();
gyro.Configure(odr: MbientLab.MetaWear.Sensor.GyroBmi160.OutputDataRate._100Hz, range: MbientLab.MetaWear.Sensor.GyroBmi160.DataRange._250dps);
await gyro.PackedAngularVelocity.AddRouteAsync(source => source.Stream(async data => await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.High, () =>
{
gyroData.Text = data.Value <AngularVelocity>().ToString();
})));
IMagnetometerBmm150 magnetometer = board.GetModule <IMagnetometerBmm150>();
magnetometer.Configure(preset: MbientLab.MetaWear.Sensor.MagnetometerBmm150.Preset.HighAccuracy);
await magnetometer.PackedMagneticField.AddRouteAsync(source => source.Stream(async data => await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.High, () =>
{
magnetometerData.Text = data.Value <MagneticField>().ToString();
})));
accelerometer.PackedAcceleration.Start();
gyro.PackedAngularVelocity.Start();
magnetometer.PackedMagneticField.Start();
accelerometer.Start();
gyro.Start();
magnetometer.Start();
}
public void SetPresetPattern(byte[] expected, Color color, Pattern preset, ushort delay, byte repeat)
{
if (delaySupported)
{
expected[15] = (byte)((delay >> 8) & 0xff);
expected[14] = (byte)(delay & 0xff);
}
led.EditPattern(color, preset, delay, repeat);
byte[][] actual = platform.GetCommands();
Assert.That(new byte[][] { expected }, Is.EqualTo(actual));
}
static async Task Main(string[] args)
{
IMetaWearBoard board = null;
bool succeed = false;
int retries = 5;
//while (!succeed && retries > 0)
{
//try
{
board = MbientLab.MetaWear.NetStandard.Application.GetMetaWearBoard(args[0]);
//var board = BLEMetawear.Application.GetMetaWearBoard(args[0]);
board.TimeForResponse = 100000;
board.OnUnexpectedDisconnect += OnDisconneted;
await board.InitializeAsync();
succeed = true;
}
//catch
{
retries--;
}
}
ILed led = null;
ISensorFusionBosch sensor = null;
if (board.IsConnected)
{
led = board.GetModule <ILed>();
led.EditPattern(MbientLab.MetaWear.Peripheral.Led.Color.Green, MbientLab.MetaWear.Peripheral.Led.Pattern.Solid);
led.Play();
sensor = board.GetModule <ISensorFusionBosch>();
sensor.Configure();
var rout = await sensor.EulerAngles.AddRouteAsync(source =>
{
try
{
source.Stream(data =>
{
var value = data.Value <EulerAngles>();
var AngularRead = (int)value.Roll;
var OrbitalRead = (int)value.Pitch;
//Console.Clear();
Console.Write($"\rroll: {value.Roll} pitch:{value.Pitch} Yaw:{value.Yaw} ");
//Rotate(-value.Pitch, 0 , -value.Yaw);
});
}
catch (Exception ex)
{
Console.Write(ex.Message);
//LogException(LoggerCategory, ex, "Could not initialize IMU stream callback");
throw;
}
});
sensor.EulerAngles.Start();
sensor.Start();
}
ConsoleKeyInfo key = new ConsoleKeyInfo();
while (key.Key != ConsoleKey.Q)
{
key = Console.ReadKey();
}
if (board.IsConnected)
{
if (led != null)
{
led.Stop(true);
}
if (sensor != null)
{
sensor.EulerAngles.Stop();
sensor.Stop();
}
await board.DisconnectAsync();
//board.TearDown();
}
}
