/// <summary>
/// Initializes the NavX singleton
/// </summary>
/// <param name="serialPortId">port that the NavX is plugged into</param>
/// <param name="dataType">sets the type of data, processed or raw</param>
/// <param name="updateRateHz">the update rate of the NavX - default 50Hz</param>
internal static NavX InitializeNavX(SerialPort.Port serialPortId,
SerialDataType dataType = SerialDataType.KProcessedData, byte updateRateHz = 50)
{
if (_lazy != null)
{
Report.Error(
@"A NavX instance already been created, someone other than Config is trying to create an instance.");
}
_lazy = new Lazy <NavX>(() => new NavX(serialPortId, dataType, updateRateHz));
return(Instance);
}
const bool debug = false; /* Set to true to enable debug output (to smart dashboard) */
public SerialIO(SerialPort.Port port_id, byte update_rate_hz, bool processed_data, IIoCompleteNotification notify_sink, IBoardCapabilities board_capabilities)
{
this.serial_port_id = port_id;
ypr_update_data = new IMUProtocol.YPRUpdate();
gyro_update_data = new IMUProtocol.GyroUpdate();
ahrs_update_data = new AHRSProtocol.AHRSUpdate();
ahrspos_update_data = new AHRSProtocol.AHRSPosUpdate();
board_id = new AHRSProtocol.BoardID();
board_state = new BoardState();
this.notify_sink = notify_sink;
this.board_capabilities = board_capabilities;
serial_port = GetMaybeCreateSerialPort();
this.update_rate_hz = update_rate_hz;
if (processed_data)
{
update_type = AHRSProtocol.MSGID_AHRSPOS_UPDATE;
}
else {
update_type = IMUProtocol.MSGID_GYRO_UPDATE;
}
}
const bool debug = false; /* Set to true to enable debug output (to smart dashboard) */
public SerialIO(SerialPort.Port port_id, byte update_rate_hz, bool processed_data, IIoCompleteNotification notify_sink, IBoardCapabilities board_capabilities)
{
this.serial_port_id = port_id;
ypr_update_data = new IMUProtocol.YPRUpdate();
gyro_update_data = new IMUProtocol.GyroUpdate();
ahrs_update_data = new AHRSProtocol.AHRSUpdate();
ahrspos_update_data = new AHRSProtocol.AHRSPosUpdate();
board_id = new AHRSProtocol.BoardID();
board_state = new BoardState();
this.notify_sink = notify_sink;
this.board_capabilities = board_capabilities;
serial_port = GetMaybeCreateSerialPort();
this.update_rate_hz = update_rate_hz;
if (processed_data)
{
update_type = AHRSProtocol.MSGID_AHRSPOS_UPDATE;
}
else
{
update_type = IMUProtocol.MSGID_GYRO_UPDATE;
}
}
private NavX(SerialPort.Port serialPortId, SerialDataType dataType = SerialDataType.KProcessedData,
byte updateRateHz = 50) : base(serialPortId, dataType, updateRateHz)
{
}