public void Start() { if (state != XSensState.NotStarted) { Debug.Log("[XSensGyroscope] Cannot call Start twice! Ignoring...\n"); return; } this.UpdateState(XSensState.Starting); _xda.scanPorts(); Debug.LogFormat("[XSensGyroscope] Found {0} device(s)\n", _xda._DetectedDevices.Count); if (_xda._DetectedDevices.Count > 0) { XsPortInfo portInfo = _xda._DetectedDevices[0]; if (portInfo.deviceId().isMtMk4()) { _xda.openPort(portInfo); MasterInfo ai = new MasterInfo(portInfo.deviceId()); ai.ComPort = portInfo.portName(); ai.BaudRate = portInfo.baudrate(); _measuringDevice = _xda.getDevice(ai.DeviceId); ai.ProductCode = new XsString(_measuringDevice.productCode()); // Print information about detected MTi / MTx / MTmk4 device Debug.LogFormat("[XSensGyroscope] Found a device with id: {0} @ port: {1}, baudrate: {2}\n", _measuringDevice.deviceId().toXsString().toString(), ai.ComPort.toString(), ai.BaudRate); // Create and attach callback handler to device _myMtCallback = new MyMtCallback(); _measuringDevice.addCallbackHandler(_myMtCallback); ConnectedMtData mtwData = new ConnectedMtData(); // connect signals _myMtCallback.DataAvailable += new EventHandler <DataAvailableArgs>(DataAvailable); // Put the device in configuration mode Debug.Log("[XSensGyroscope] Putting device into configuration mode...\n"); if (!_measuringDevice.gotoConfig()) // Put the device into configuration mode before configuring the device { Debug.Log("[XSensGyroscope] Could not put device into configuration mode. Aborting."); this.UpdateState(XSensState.Failed); return; } // Configure the device. Note the differences between MTix and MTmk4 Debug.Log("[XSensGyroscope] Configuring the device...\n"); if (_measuringDevice.deviceId().isMt9c()) { XsOutputMode outputMode = XsOutputMode.XOM_Orientation; // output orientation data XsOutputSettings outputSettings = XsOutputSettings.XOS_OrientationMode_Quaternion; // output orientation data as quaternion XsDeviceMode deviceMode = new XsDeviceMode(100); // make a device mode with update rate: 100 Hz deviceMode.setModeFlag(outputMode); deviceMode.setSettingsFlag(outputSettings); // set the device configuration if (!_measuringDevice.setDeviceMode(deviceMode)) { Debug.Log("[XSensGyroscope] Could not configure MTix device. Aborting."); this.UpdateState(XSensState.Failed); return; } } else if (_measuringDevice.deviceId().isMtMk4()) { XsOutputConfiguration quat = new XsOutputConfiguration(XsDataIdentifier.XDI_Quaternion, 0); XsOutputConfigurationArray configArray = new XsOutputConfigurationArray(); configArray.push_back(quat); if (!_measuringDevice.setOutputConfiguration(configArray)) { Debug.Log("[XSensGyroscope] Could not configure MTmk4 device. Aborting."); this.UpdateState(XSensState.Failed); return; } } else { Debug.Log("[XSensGyroscope] Unknown device while configuring. Aborting."); this.UpdateState(XSensState.Failed); return; } // Put the device in measurement mode Debug.Log("[XSensGyroscope] Putting device into measurement mode...\n"); if (!_measuringDevice.gotoMeasurement()) { Debug.Log("[XSensGyroscope] Could not put device into measurement mode. Aborting."); this.UpdateState(XSensState.Failed); return; } this.UpdateState(XSensState.Started); } } }