void OnMovementMeasurementValueChanged(object sender, MovementEventArgs e)
{
movement = e.Measurement;
if (_timer == null)
{
var nowait = Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, new Windows.UI.Core.DispatchedHandler(() =>
{
StartTimer();
}));
}
}
void OnMovementMeasurementValueChanged(object sender, MovementEventArgs e)
{
this.movement = e.Measurement;
this.absolutePosition = new MagnetometerMeasurement()
{
X = movement.MagX,
Y = movement.MagY,
Z = movement.MagZ
};
// magnetometer has quite a bit of noise, if the value is less than 5 then chances are the
// device is not moving.
if (Math.Abs(movement.GyroX) > MinimumMovement)
{
rx += movement.MagX;
speedX = 1d + Math.Min(3, Math.Abs(movement.MagX / 10));
}
if (Math.Abs(movement.GyroY) > MinimumMovement)
{
ry += movement.MagY;
speedY = 1d + Math.Min(3, Math.Abs(movement.MagY / 10));
}
if (Math.Abs(movement.GyroZ) > MinimumMovement)
{
rz += movement.MagZ;
speedZ = 1d + Math.Min(3, Math.Abs(movement.MagZ / 10));
}
if (timer == null)
{
var nowait = Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, new Windows.UI.Core.DispatchedHandler(() =>
{
StartTimer();
}));
}
}
public static MovementMeasurement GetMovementMeasurements(byte[] sensorData)
{
if (sensorData.Length == 18)
{
MovementMeasurement measurement = new MovementMeasurement();
short gx = BitConverter.ToInt16(sensorData,0);
short gy = BitConverter.ToInt16(sensorData,2);
short gz = BitConverter.ToInt16(sensorData,4);
short ax = BitConverter.ToInt16(sensorData,6);
short ay = BitConverter.ToInt16(sensorData,8);
short az = BitConverter.ToInt16(sensorData,10);
short mx = BitConverter.ToInt16(sensorData,12);
short my = BitConverter.ToInt16(sensorData,14);
short mz = BitConverter.ToInt16(sensorData,16);
measurement.GyroX = ((double)gx * 500.0) / 65536.0;
measurement.GyroY = ((double)gy * 500.0) / 65536.0;
measurement.GyroZ = ((double)gz * 500.0) / 65536.0;
measurement.AccelX = ((double)ax / 32768);
measurement.AccelY = ((double)ay / 32768);
measurement.AccelZ = ((double)az / 32768);
// on SensorTag CC2650 the conversion to micro tesla's is done in the firmware.
measurement.MagX = (double)mx;
measurement.MagY = (double)my;
measurement.MagZ = (double)mz;
return measurement;
}
return null;
}
