//static AHRS.MahonyAHRS AHRS = new AHRS.MahonyAHRS(1f / 256f, 5f);
/// <summary>
/// Main method.
/// </summary>
/// <param name="args">
/// Unused.
/// </param>
static void Main(string[] args)
{
Console.WriteLine(Assembly.GetExecutingAssembly().GetName().Name + " " + Assembly.GetExecutingAssembly().GetName().Version.Major.ToString() + "." + Assembly.GetExecutingAssembly().GetName().Version.Minor.ToString());
try
{
// Connect to x-IMU
Console.WriteLine("Searching for x-IMU...");
x_IMU_API.PortAssignment[] portAssignment = (new x_IMU_API.PortScanner(true, true)).Scan();
x_IMU_API.xIMUserial xIMUserial = new x_IMU_API.xIMUserial(portAssignment[0].PortName);
xIMUserial.Open();
Console.WriteLine("Connected to x-IMU " + portAssignment[0].DeviceID + " on " + portAssignment[0].PortName + ".");
// Show 3D cuboid forms
Console.WriteLine("Showing 3D Cuboid forms...");
Form_3Dcuboid form_3DcuboidA = new Form_3Dcuboid();
Form_3Dcuboid form_3DcuboidB = new Form_3Dcuboid(new string[] { "Form_3Dcuboid/RightInv.png", "Form_3Dcuboid/LeftInv.png", "Form_3Dcuboid/BackInv.png", "Form_3Dcuboid/FrontInv.png", "Form_3Dcuboid/TopInv.png", "Form_3Dcuboid/BottomInv.png" });
form_3DcuboidA.Text += " A";
form_3DcuboidB.Text += " B";
BackgroundWorker backgroundWorkerA = new BackgroundWorker();
BackgroundWorker backgroundWorkerB = new BackgroundWorker();
backgroundWorkerA.DoWork += new DoWorkEventHandler(delegate { form_3DcuboidA.ShowDialog(); });
backgroundWorkerB.DoWork += new DoWorkEventHandler(delegate { form_3DcuboidB.ShowDialog(); });
backgroundWorkerA.RunWorkerAsync();
backgroundWorkerB.RunWorkerAsync();
// x-IMU data received events to update cuboid form
xIMUserial.QuaternionDataReceived += new x_IMU_API.xIMUserial.onQuaternionDataReceived(delegate(object s, x_IMU_API.QuaternionData e) { form_3DcuboidA.RotationMatrix = e.ConvertToRotationMatrix(); });
xIMUserial.CalInertialAndMagneticDataReceived += new x_IMU_API.xIMUserial.onCalInertialAndMagneticDataReceived(delegate(object s, x_IMU_API.CalInertialAndMagneticData e) { form_3DcuboidB.RotationMatrix = (new x_IMU_API.QuaternionData(AHRS.Quaternion)).ConvertToConjugate().ConvertToRotationMatrix(); });
// Algorithm uses IMU update method.
Console.WriteLine("Algorithm running in IMU mode.");
xIMUserial.CalInertialAndMagneticDataReceived += new x_IMU_API.xIMUserial.onCalInertialAndMagneticDataReceived(xIMUserial_CalInertialAndMagneticDataReceived_updateIMU);
Console.WriteLine("Press any key to continue...");
Console.ReadKey();
// Algorithm uses AHRS update method.
Console.WriteLine("Algorithm running in AHRS mode.");
xIMUserial.CalInertialAndMagneticDataReceived -= new x_IMU_API.xIMUserial.onCalInertialAndMagneticDataReceived(xIMUserial_CalInertialAndMagneticDataReceived_updateIMU);
xIMUserial.CalInertialAndMagneticDataReceived += new x_IMU_API.xIMUserial.onCalInertialAndMagneticDataReceived(xIMUserial_CalInertialAndMagneticDataReceived_updateAHRS);
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
}
Console.WriteLine("Press any key to exit...");
Console.ReadKey();
}
/// <summary>
/// Algorithm object.
/// </summary>
//static AHRS.MadgwickAHRS AHRS = new AHRS.MadgwickAHRS(1f / 256f, 0.1f);
//static AHRS.MahonyAHRS AHRS = new AHRS.MahonyAHRS(1f / 256f, 5f);
/// <summary>
/// Main method.
/// </summary>
/// <param name="args">
/// Unused.
/// </param>
static void Main(string[] args)
{
Console.WriteLine(Assembly.GetExecutingAssembly().GetName().Name + " " + Assembly.GetExecutingAssembly().GetName().Version.Major.ToString() + "." + Assembly.GetExecutingAssembly().GetName().Version.Minor.ToString());
try
{
// Connect to x-IMU
Console.WriteLine("Searching for x-IMU...");
//x_IMU_API.PortAssignment[] portAssignment = (new x_IMU_API.PortScanner(true, true)).Scan();
//x_IMU_API.xIMUserial xIMUserial = new x_IMU_API.xIMUserial(portAssignment[0].PortName);
//xIMUserial.Open();
//Console.WriteLine("Connected to x-IMU " + portAssignment[0].DeviceID + " on " + portAssignment[0].PortName + ".");
// Show 3D cuboid forms
Console.WriteLine("Showing 3D Cuboid forms...");
Form_3Dcuboid form_3DcuboidA = new Form_3Dcuboid();
//Form_3Dcuboid form_3DcuboidB = new Form_3Dcuboid(new string[] { "Form_3Dcuboid/RightInv.png", "Form_3Dcuboid/LeftInv.png", "Form_3Dcuboid/BackInv.png", "Form_3Dcuboid/FrontInv.png", "Form_3Dcuboid/TopInv.png", "Form_3Dcuboid/BottomInv.png" });
form_3DcuboidA.Text += " A";
//form_3DcuboidB.Text += " B";
BackgroundWorker backgroundWorkerA = new BackgroundWorker();
//BackgroundWorker backgroundWorkerB = new BackgroundWorker();
backgroundWorkerA.DoWork += new DoWorkEventHandler(delegate { form_3DcuboidA.ShowDialog(); });
//backgroundWorkerB.DoWork += new DoWorkEventHandler(delegate { form_3DcuboidB.ShowDialog(); });
backgroundWorkerA.RunWorkerAsync();
//backgroundWorkerB.RunWorkerAsync();
// x-IMU data received events to update cuboid form
//xIMUserial.QuaternionDataReceived += new x_IMU_API.xIMUserial.onQuaternionDataReceived(delegate(object s, x_IMU_API.QuaternionData e) { form_3DcuboidA.RotationMatrix = e.ConvertToRotationMatrix(); });
//xIMUserial.CalInertialAndMagneticDataReceived += new x_IMU_API.xIMUserial.onCalInertialAndMagneticDataReceived(delegate(object s, x_IMU_API.CalInertialAndMagneticData e) { form_3DcuboidB.RotationMatrix = (new x_IMU_API.QuaternionData(AHRS.Quaternion)).ConvertToConjugate().ConvertToRotationMatrix(); });
// Algorithm uses IMU update method.
Console.WriteLine("Algorithm running in IMU mode.");
//xIMUserial.CalInertialAndMagneticDataReceived += new x_IMU_API.xIMUserial.onCalInertialAndMagneticDataReceived(xIMUserial_CalInertialAndMagneticDataReceived_updateIMU);
Console.WriteLine("Press any key to continue...");
Console.ReadKey();
// Algorithm uses AHRS update method.
Console.WriteLine("Algorithm running in AHRS mode.");
//xIMUserial.CalInertialAndMagneticDataReceived -= new x_IMU_API.xIMUserial.onCalInertialAndMagneticDataReceived(xIMUserial_CalInertialAndMagneticDataReceived_updateIMU);
//xIMUserial.CalInertialAndMagneticDataReceived += new x_IMU_API.xIMUserial.onCalInertialAndMagneticDataReceived(xIMUserial_CalInertialAndMagneticDataReceived_updateAHRS);
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
}
Console.WriteLine("Press any key to exit...");
Console.ReadKey();
}
/// <summary>
/// Main method.
/// </summary>
private static void Main()
{
Console.WriteLine(Assembly.GetExecutingAssembly().GetName().Name + " " +
Assembly.GetExecutingAssembly().GetName().Version.Major + "." +
Assembly.GetExecutingAssembly().GetName().Version.Minor);
try
{
var xImUserial = new QuadRotorImu(_stopWatch);
xImUserial.Open();
// Show 3D cuboid forms
Console.WriteLine("Showing 3D Cuboid forms...");
_form3DcuboidB =
new Form_3Dcuboid(new[]
{
"Form_3Dcuboid/RightInv.png", "Form_3Dcuboid/LeftInv.png", "Form_3Dcuboid/BackInv.png",
"Form_3Dcuboid/FrontInv.png", "Form_3Dcuboid/TopInv.png", "Form_3Dcuboid/BottomInv.png"
});
_form3DcuboidB.Text += " B";
_backgroundWorkerB.DoWork += delegate
{
_form3DcuboidB.ShowDialog();
};
_backgroundWorkerB.RunWorkerAsync();
// Algorithm uses AHRS update method.
Console.WriteLine("Algorithm running in AHRS mode.");
xImUserial.CalInertialAndMagneticDataReceived += xIMUserial_CalInertialAndMagneticDataReceived_updateAHRS;
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
}
Console.WriteLine("Press any key to exit...");
Console.ReadKey();
}
