/// <summary>
/// xIMUserial QuaternionDataReceived event updates oscilloscope.
/// </summary>
private void xIMUserial_QuaternionDataReceived(object sender, x_IMU_API.QuaternionData e)
{
float[] euler = e.ConvertToEulerAngles();
eulerAnglesOscilloscope.Caption = "Euler Angles Data (˚)";
eulerAnglesOscilloscope.AddScopeData(euler[0], euler[1], euler[2]);
form_3Dcuboid.RotationMatrix = e.ConvertToRotationMatrix();
}
/// <summary>
/// QuaternionDataReceived event to set mouse position.
/// </summary>
/// <remarks>
/// Mouse position will not be updated if fewer than 32 packets received since last button down. Design assumes quaternion data output rate = 128 Hz.
/// Cursor horizontal position over screen width is represented by ±30 degrees range of psi.
/// Cursor vertical position over screen height is represented by ±20 degrees range of theta.
/// </remarks>
static void xIMUserial_QuaternionDataReceived(object sender, x_IMU_API.QuaternionData e)
{
if (((x_IMU_API.xIMUserial)sender).PacketsReadCounter.QuaternionDataPackets > sampledCount + 32)
{
float[] euler = e.ConvertToEulerAngles();
SendInputClass.MouseEvent((int)(SendInputClass.MOUSEEVENTF.ABSOLUTE | SendInputClass.MOUSEEVENTF.MOVE),
(int)(32768.5f + ((-euler[2] / 30) * 32768.5f)),
(int)(32768.5f + ((-euler[1] / 20) * 32768.5f)),
0);
}
}