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

Class NineDofImuWing

Represents Adafruit's 9-DOF IMU FeatherWing

Assembly: NineDofImuWing.dll

View Source

Declaration

public class NineDofImuWing : PollingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>, IObservable<IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>>, ISamplingSensor<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>, ISensor<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>, IAccelerometer, ISamplingSensor<Acceleration3D>, ISensor<Acceleration3D>, IGyroscope, ISamplingSensor<AngularVelocity3D>, ISensor<AngularVelocity3D>, IMagnetometer, ISamplingSensor<MagneticField3D>, ISensor<MagneticField3D>, ISensor, ISamplingSensor

Inheritance: System.Object -> Meadow.Foundation.ObservableBase<System.ValueTuple<System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.AngularVelocity3D>,System.Nullable<Meadow.Units.MagneticField3D>>> -> Meadow.Foundation.SamplingSensorBase<System.ValueTuple<System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.AngularVelocity3D>,System.Nullable<Meadow.Units.MagneticField3D>>> -> Meadow.Foundation.PollingSensorBase<System.ValueTuple<System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.AngularVelocity3D>,System.Nullable<Meadow.Units.MagneticField3D>>>

Implements:

Expand

System.IObservable<Meadow.IChangeResult<System.ValueTuple<System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.AngularVelocity3D>,System.Nullable<Meadow.Units.MagneticField3D>>>>, Meadow.Peripherals.Sensors.ISamplingSensor<System.ValueTuple<System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.AngularVelocity3D>,System.Nullable<Meadow.Units.MagneticField3D>>>, Meadow.Peripherals.Sensors.ISensor<System.ValueTuple<System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.AngularVelocity3D>,System.Nullable<Meadow.Units.MagneticField3D>>>, Meadow.Peripherals.Sensors.Motion.IAccelerometer, Meadow.Peripherals.Sensors.ISamplingSensor<Meadow.Units.Acceleration3D>, Meadow.Peripherals.Sensors.ISensor<Meadow.Units.Acceleration3D>, Meadow.Peripherals.Sensors.Motion.IGyroscope, Meadow.Peripherals.Sensors.ISamplingSensor<Meadow.Units.AngularVelocity3D>, Meadow.Peripherals.Sensors.ISensor<Meadow.Units.AngularVelocity3D>, Meadow.Peripherals.Sensors.Motion.IMagnetometer, Meadow.Peripherals.Sensors.ISamplingSensor<Meadow.Units.MagneticField3D>, Meadow.Peripherals.Sensors.ISensor<Meadow.Units.MagneticField3D>, Meadow.Peripherals.Sensors.ISensor, Meadow.Peripherals.Sensors.ISamplingSensor

Properties

Lis3mdl

The LIS3MDL Magnetometer

View Source

Declaration

public Lis3mdl Lis3mdl { get; }

Lsm6dsox

The LSM6DSOX Accelerometer/Gyroscope

View Source

Declaration

public Lsm6dsox Lsm6dsox { get; }

UpdateInterval

The sampling interval

View Source

Declaration

public override TimeSpan UpdateInterval { get; }

IsSampling

Is the sensor currently sampling

View Source

Declaration

public bool IsSampling { get; }

Acceleration3D

The current acceleration

View Source

Declaration

public Acceleration3D? Acceleration3D { get; }

AngularVelocity3D

The current angular velocity

View Source

Declaration

public AngularVelocity3D? AngularVelocity3D { get; }

MagneticField3D

The current magnetic field

View Source

Declaration

public MagneticField3D? MagneticField3D { get; }

Methods

StartUpdating(TimeSpan?)

Starts updating the sensor on the updateInterval frequency specified.

This method also starts raising Updated events and notifying IObservable subscribers. Use the updateInterval parameter to specify how often events and notifications are raised/sent.

View Source

Declaration

public override void StartUpdating(TimeSpan? updateInterval = null)

Parameters

Type	Name	Description
System.Nullable<System.TimeSpan>	updateInterval	A TimeSpan that specifies how long to

         wait between readings. This value influences how often `*Updated`
         events are raised and `IObservable` consumers are notified.
         The default is 5 seconds. |

StopUpdating()

Stops sampling the sensor

View Source

Declaration

public override void StopUpdating()

RaiseEventsAndNotify(IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>)

Notify observers

View Source

Declaration

protected override void RaiseEventsAndNotify(IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)> changeResult)

Parameters

Type	Name	Description
Meadow.IChangeResult<System.ValueTuple<System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.AngularVelocity3D>,System.Nullable<Meadow.Units.MagneticField3D>>>	changeResult	provides new and old values

ReadSensor()

Read value from sensor

View Source

Declaration

protected override Task<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)> ReadSensor()

Returns

System.Threading.Tasks.Task<System.ValueTuple<System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.AngularVelocity3D>,System.Nullable<Meadow.Units.MagneticField3D>>>: unitized value

Implements

• System.IObservable<Meadow.IChangeResult<System.ValueTuple<System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.AngularVelocity3D>,System.Nullable<Meadow.Units.MagneticField3D>>>>
• Meadow.Peripherals.Sensors.ISamplingSensor<System.ValueTuple<System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.AngularVelocity3D>,System.Nullable<Meadow.Units.MagneticField3D>>>
• Meadow.Peripherals.Sensors.ISensor<System.ValueTuple<System.Nullable<Meadow.Units.Acceleration3D>,System.Nullable<Meadow.Units.AngularVelocity3D>,System.Nullable<Meadow.Units.MagneticField3D>>>
• Meadow.Peripherals.Sensors.Motion.IAccelerometer
• Meadow.Peripherals.Sensors.ISamplingSensor<Meadow.Units.Acceleration3D>
• Meadow.Peripherals.Sensors.ISensor<Meadow.Units.Acceleration3D>
• Meadow.Peripherals.Sensors.Motion.IGyroscope
• Meadow.Peripherals.Sensors.ISamplingSensor<Meadow.Units.AngularVelocity3D>
• Meadow.Peripherals.Sensors.ISensor<Meadow.Units.AngularVelocity3D>
• Meadow.Peripherals.Sensors.Motion.IMagnetometer
• Meadow.Peripherals.Sensors.ISamplingSensor<Meadow.Units.MagneticField3D>
• Meadow.Peripherals.Sensors.ISensor<Meadow.Units.MagneticField3D>
• Meadow.Peripherals.Sensors.ISensor
• Meadow.Peripherals.Sensors.ISamplingSensor