Meadow.Foundation.FeatherWings.NineDofImuWing

NineDofImuWing
Status
Source code	GitHub
NuGet package

Code Example

NineDofImuWing nineDofImuWing;

public override Task Initialize()
{
    Resolver.Log.Info("Initializing ...");

    var i2cBus = Device.CreateI2cBus(I2cBusSpeed.FastPlus);

    nineDofImuWing = new NineDofImuWing(i2cBus);

    // Example that uses an IObservable subscription to only be notified when the filter is satisfied
    var consumer = NineDofImuWing.CreateObserver(handler: result => HandleResult(this, result),
                                         filter: result => FilterResult(result));

    nineDofImuWing.Subscribe(consumer);

    // classical .NET events can also be used for all sensors
    nineDofImuWing.Updated += HandleResult;

    nineDofImuWing.StartUpdating(TimeSpan.FromSeconds(1));

    return Task.CompletedTask;
}

bool FilterResult(IChangeResult<(
        Acceleration3D? Acceleration3D,
        AngularVelocity3D? AngularVelocity3D,
        MagneticField3D? MagneticField3D
    )> result)
{
    return result.New.Acceleration3D.Value.Z > new Acceleration(0.1, Acceleration.UnitType.Gravity);
}

// Example Event Handler for all sensor results
void HandleResult(object sender, IChangeResult<(
        Acceleration3D? Acceleration3D,
        AngularVelocity3D? AngularVelocity3D,
        MagneticField3D? MagneticField3D
    )> result)
{
    var accel = result.New.Acceleration3D.Value;
    var gyro = result.New.AngularVelocity3D.Value;
    var mag = result.New.MagneticField3D.Value;

    Resolver.Log.Info(
        $"Accelerometer (g): X = {accel.X.Gravity:0.##}, Y = {accel.Y.Gravity:0.##}, Z = {accel.Z.Gravity:0.##}; " +
        $"Gyroscope (°/s): X = {gyro.X.DegreesPerSecond:0.##}, Y = {gyro.Y.DegreesPerSecond:0.##}, Z = {gyro.Z.DegreesPerSecond:0.##}; " +
        $"Magnetometer (gauss) X = {mag.X.Gauss:0.##}, Y = {mag.Y.Gauss:0.##}, Z = {mag.Z.Gauss:0.##}"
        );
}

// Example Event Handler for any individual sensors' result
void HandleResult<UNIT>(object sender, IChangeResult<UNIT> result)
where UNIT : struct
{
    if (result is IChangeResult<Acceleration3D> accel)
    {
        Resolver.Log.Info($"Accelerometer (g): X = {accel.New.X.Gravity:0.##}, Y = {accel.New.Y.Gravity:0.##}, Z = {accel.New.Z.Gravity:0.##}");
    }
    else if (result is IChangeResult<AngularVelocity3D> gyro)
    {
        Resolver.Log.Info($"Gyroscope (°/s): X = {gyro.New.X.DegreesPerSecond:0.##}, Y = {gyro.New.Y.DegreesPerSecond:0.##}, Z = {gyro.New.Z.DegreesPerSecond:0.##};");
    }
    else if (result is IChangeResult<MagneticField3D> mag)
    {
        Resolver.Log.Info($"Magnetometer (gauss) X = {mag.New.X.Gauss:0.##}, Y = {mag.New.Y.Gauss:0.##}, Z = {mag.New.Z.Gauss:0.##}");
    }
}

Sample project(s) available on GitHub