public void GetMagneticField(ImuSensorReadings r) { Magnet = r.MagneticField; MagnetScalar = Math.Sqrt(Math.Pow(r.MagneticField.X, 2) + Math.Pow(r.MagneticField.Y, 2) + Math.Pow(r.MagneticField.Z, 2)); mmax = Math.Max(MagnetScalar, mmax) + 1; mmin = Math.Min(MagnetScalar, mmin) - 1; }
public void GetGyroscope(ImuSensorReadings r) { Gyro = r.Gyro.AsDegrees; GyroMax = GetVectorMax(GyroMax, Gyro); GyroMin = GetVectorMin(GyroMin, Gyro); GyroScalar = Math.Sqrt(Math.Pow(r.Gyro.AsDegrees.X, 2) + Math.Pow(r.Gyro.AsDegrees.Y, 2) + Math.Pow(r.Gyro.AsDegrees.Z, 2)); gmax = Math.Max(GyroScalar, gmax) + 1; gmin = Math.Min(GyroScalar, gmin) - 1; }
public void GetAcceleration(ImuSensorReadings r) { Acceleration = r.Acceleration; AccelerationMin = GetVectorMin(Acceleration, AccelerationMin); AccelerationMax = GetVectorMax(Acceleration, AccelerationMax); AcceloScalar = Math.Sqrt(Math.Pow(r.Acceleration.X, 2) + Math.Pow(r.Acceleration.Y, 2) + Math.Pow(r.Acceleration.Z, 2)); amax = Math.Max(AcceloScalar, amax) + 1; amin = Math.Min(AcceloScalar, amin) - 1; }
public void GetFusionPose(ImuSensorReadings r) { PitchAxis = r.FusionPose.AsDegrees.X; RollAxis = r.FusionPose.AsDegrees.Y; JawAxis = r.FusionPose.AsDegrees.Z; }