Remarks

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;

    // or for individual sensors
    nineDofImuWing.Acceleration3DUpdated += HandleResult;
    nineDofImuWing.AngularVelocity3DUpdated += HandleResult;
    nineDofImuWing.MagneticField3DUpdated += 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

Characteristic	Locus
Inheritance	object ObservableBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)> SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)> PollingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)> > NineDofImuWing
Implements	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>
Inherited Members	PollingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>.StartUpdating(TimeSpan?) PollingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>.StopUpdating() SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>.samplingLock SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>.ReadSensor() SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>.RaiseEventsAndNotify(IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>) SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>.Read() SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>.SamplingTokenSource SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>.Conditions SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>.IsSampling SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>.UpdateInterval SamplingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>.Updated ObservableBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>.NotifyObservers(IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>) ObservableBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>.Subscribe(IObserver<IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>>) ObservableBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>.CreateObserver(Action<IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>>, Predicate<IChangeResult<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>>) ObservableBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>.observers object.Equals(object) object.Equals(object, object) object.GetHashCode() object.GetType() object.MemberwiseClone() object.ReferenceEquals(object, object) object.ToString()
Namespace	Meadow.Foundation.FeatherWings
Assembly	NineDofImuWing.dll

Syntax

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>

Constructors

NineDofImuWing(II2cBus, bool, bool)

Represents Adafruit's 9-DOF IMU FeatherWing with an Lsm6dsox Accelerometer/Gyroscope and an Lis3mdl Magnetometer.

Declaration

public NineDofImuWing(II2cBus i2cBus, bool alternateAccelAddress = false, bool alternateMagAddress = false)

Parameters

Type	Name	Description
II2cBus	i2cBus	The I2C bus connected to the device
bool	alternateAccelAddress	true if the solder jumper for A/G Address is closed on the back of the featherwing, or it's SDO pin is pulled high.
bool	alternateMagAddress	true if the solder jumper for Mag Address is closed on the back of the featherwing, or it's SDO pin is pulled high.

Remarks

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;

    // or for individual sensors
    nineDofImuWing.Acceleration3DUpdated += HandleResult;
    nineDofImuWing.AngularVelocity3DUpdated += HandleResult;
    nineDofImuWing.MagneticField3DUpdated += 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

Exceptions

Type	Condition
ArgumentNullException	if i2cBus is null

Properties

Acceleration3D

Last value read from the sensor.

Declaration

public Acceleration3D? Acceleration3D { get; }

Property Value

Type	Description
Acceleration3D?

Remarks

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;

    // or for individual sensors
    nineDofImuWing.Acceleration3DUpdated += HandleResult;
    nineDofImuWing.AngularVelocity3DUpdated += HandleResult;
    nineDofImuWing.MagneticField3DUpdated += 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

AngularVelocity3D

Last value read from the sensor.

Declaration

public AngularVelocity3D? AngularVelocity3D { get; }

Property Value

Type	Description
AngularVelocity3D?

Remarks

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;

    // or for individual sensors
    nineDofImuWing.Acceleration3DUpdated += HandleResult;
    nineDofImuWing.AngularVelocity3DUpdated += HandleResult;
    nineDofImuWing.MagneticField3DUpdated += 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

IsSampling

Gets a value indicating whether the sensor is currently sampling

Declaration

public bool IsSampling { get; }

Property Value

Type	Description
bool	true if sampling, otherwise, false

Remarks

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;

    // or for individual sensors
    nineDofImuWing.Acceleration3DUpdated += HandleResult;
    nineDofImuWing.AngularVelocity3DUpdated += HandleResult;
    nineDofImuWing.MagneticField3DUpdated += 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

Lis3mdl

Represents Adafruit's 9-DOF IMU FeatherWing

Declaration

public Lis3mdl Lis3mdl { get; }

Property Value

Type	Description
Lis3mdl

Remarks

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;

    // or for individual sensors
    nineDofImuWing.Acceleration3DUpdated += HandleResult;
    nineDofImuWing.AngularVelocity3DUpdated += HandleResult;
    nineDofImuWing.MagneticField3DUpdated += 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

Lsm6dsox

Represents Adafruit's 9-DOF IMU FeatherWing

Declaration

public Lsm6dsox Lsm6dsox { get; }

Property Value

Type	Description
Lsm6dsox

Remarks

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;

    // or for individual sensors
    nineDofImuWing.Acceleration3DUpdated += HandleResult;
    nineDofImuWing.AngularVelocity3DUpdated += HandleResult;
    nineDofImuWing.MagneticField3DUpdated += 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

MagneticField3D

Last value read from the sensor

Declaration

public MagneticField3D? MagneticField3D { get; }

Property Value

Type	Description
MagneticField3D?

Remarks

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;

    // or for individual sensors
    nineDofImuWing.Acceleration3DUpdated += HandleResult;
    nineDofImuWing.AngularVelocity3DUpdated += HandleResult;
    nineDofImuWing.MagneticField3DUpdated += 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

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.

Declaration

public override TimeSpan UpdateInterval { get; }

Property Value

Type	Description
TimeSpan

Overrides

Meadow.Foundation.SamplingSensorBase<(Meadow.Units.Acceleration3D? Acceleration3D, Meadow.Units.AngularVelocity3D? AngularVelocity3D, Meadow.Units.MagneticField3D? MagneticField3D)>.UpdateInterval

Remarks

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;

    // or for individual sensors
    nineDofImuWing.Acceleration3DUpdated += HandleResult;
    nineDofImuWing.AngularVelocity3DUpdated += HandleResult;
    nineDofImuWing.MagneticField3DUpdated += 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

Methods

ReadSensor()

Read value from sensor

Declaration

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

Returns

Type	Description
Task<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>	unitized value

Overrides

Meadow.Foundation.SamplingSensorBase<(Meadow.Units.Acceleration3D? Acceleration3D, Meadow.Units.AngularVelocity3D? AngularVelocity3D, Meadow.Units.MagneticField3D? MagneticField3D)>.ReadSensor()

Remarks

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;

    // or for individual sensors
    nineDofImuWing.Acceleration3DUpdated += HandleResult;
    nineDofImuWing.AngularVelocity3DUpdated += HandleResult;
    nineDofImuWing.MagneticField3DUpdated += 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

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.

Declaration

public override void StartUpdating(TimeSpan? updateInterval = null)

Parameters

Type	Name	Description
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.

Overrides

PollingSensorBase<(Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D, MagneticField3D? MagneticField3D)>.StartUpdating(TimeSpan?)

Remarks

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;

    // or for individual sensors
    nineDofImuWing.Acceleration3DUpdated += HandleResult;
    nineDofImuWing.AngularVelocity3DUpdated += HandleResult;
    nineDofImuWing.MagneticField3DUpdated += 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

StopUpdating()

Stops sampling the sensor

Declaration

public override void StopUpdating()

Overrides

Meadow.Foundation.PollingSensorBase<(Meadow.Units.Acceleration3D? Acceleration3D, Meadow.Units.AngularVelocity3D? AngularVelocity3D, Meadow.Units.MagneticField3D? MagneticField3D)>.StopUpdating()

Remarks

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;

    // or for individual sensors
    nineDofImuWing.Acceleration3DUpdated += HandleResult;
    nineDofImuWing.AngularVelocity3DUpdated += HandleResult;
    nineDofImuWing.MagneticField3DUpdated += 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

Events

Acceleration3DUpdated

Raised when a new reading has been made. Events will only be raised while the driver is updating. To start, call the StartUpdating() method.

Declaration

public event EventHandler<IChangeResult<Acceleration3D>> Acceleration3DUpdated

Event Type

Type	Description
EventHandler<IChangeResult<Acceleration3D>>

Remarks

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;

    // or for individual sensors
    nineDofImuWing.Acceleration3DUpdated += HandleResult;
    nineDofImuWing.AngularVelocity3DUpdated += HandleResult;
    nineDofImuWing.MagneticField3DUpdated += 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

AngularVelocity3DUpdated

Raised when a new reading has been made. Events will only be raised while the driver is updating. To start, call the StartUpdating() method.

Declaration

public event EventHandler<IChangeResult<AngularVelocity3D>> AngularVelocity3DUpdated

Event Type

Type	Description
EventHandler<IChangeResult<AngularVelocity3D>>

Remarks

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;

    // or for individual sensors
    nineDofImuWing.Acceleration3DUpdated += HandleResult;
    nineDofImuWing.AngularVelocity3DUpdated += HandleResult;
    nineDofImuWing.MagneticField3DUpdated += 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

MagneticField3DUpdated

Raised when a new reading has been made. Events will only be raised while the driver is updating. To start, call the StartUpdating() method.

Declaration

public event EventHandler<IChangeResult<MagneticField3D>> MagneticField3DUpdated

Event Type

Type	Description
EventHandler<IChangeResult<MagneticField3D>>

Remarks

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;

    // or for individual sensors
    nineDofImuWing.Acceleration3DUpdated += HandleResult;
    nineDofImuWing.AngularVelocity3DUpdated += HandleResult;
    nineDofImuWing.MagneticField3DUpdated += 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