/// <summary> /// Constructs the Calibration class, passing the associated IMU number and parent IMUConnection instance. /// Looks for the associated calibration file and attempts to read it if it exists, else creates a new one. /// </summary> /// <param name="_IMU_number">IMU device number.</param> /// <param name="_IMU_connection"> Parent IMU connection instance.</param> public Calibration(string _IMU_number, IMUConnection _IMU_connection) { populate_variables(); IMU_number = _IMU_number; IMU_connection = _IMU_connection; bool use_calibration = IMU_connection.use_calibration; path += @"C:\Users\Nathan\Dev\Imperial\IMU\Avatar\NUClass\calibrationFiles" + IMU_number + ".txt"; //MMark.Info.MMarkInfo.MMarkResources + "IMU_Memory\\MagCali\\" + IMU_number + ".txt"; if (File.Exists(path) && use_calibration) { System.Diagnostics.Debug.WriteLine(IMU_number.ToString() + " ACTIVATED"); try { string[] CalibrationValues = File.ReadAllLines(path); for (var i = 0; i < 3; i++) { variables["GYRO"][axes[i]] = int.Parse(CalibrationValues[i]); variables["ACCEL"][axes[i]] = int.Parse(CalibrationValues[(i + 3)]); variables["MAG"][axes[i]] = int.Parse(CalibrationValues[(i + 6)]); } valid_config_file = true; } catch (Exception) { valid_config_file = false; } } System.Diagnostics.Debug.WriteLine(valid_config_file); }
/// <summary> /// Constructs the class and assigns global variables from the passed parameters, then sets up /// basic connection variables. /// </summary> /// <param name="_IMU_connection"> Parent IMUConnection instance.</param> /// <param name="_bt_address"> Bluetooth address for IMU device.</param> /// <param name="_debug_connection_reports"> Produce debug report?</param> /// <param name="_connection_info"> Get IMU firmware information? </param> public BTManager(IMUConnection _IMU_connection, BluetoothAddress _bt_address, bool _debug_connection_reports, bool _connection_info) { IMU_connection = _IMU_connection; debug_connection_reports = _debug_connection_reports; bt_address = _bt_address; connection_info = _connection_info; db_report("Bluetooth Manager Created."); establish_bluetooth_connection(); }