void imuPrintInfo( void* handle )
{
if( !handle )
return;
CPhidgetHandle phid = (CPhidgetHandle)handle;
int serialNo = 0;
int version = 0;
const char* ptr;
int numAccelAxes = 0, numGyroAxes = 0, numCompassAxes = 0;
int dataRateMax = 0, dataRateMin = 0, dataRateCurr = 0;
//CPhidget_getDeviceType(phid, &ptr);
//printf("IMU %s\n", ptr);
CPhidget_getSerialNumber(phid, &serialNo);
CPhidget_getDeviceVersion(phid, &version);
CPhidgetSpatial_getAccelerationAxisCount((CPhidgetSpatialHandle)phid, &numAccelAxes);
CPhidgetSpatial_getGyroAxisCount((CPhidgetSpatialHandle)phid, &numGyroAxes);
CPhidgetSpatial_getCompassAxisCount((CPhidgetSpatialHandle)phid, &numCompassAxes);
CPhidgetSpatial_getDataRateMax((CPhidgetSpatialHandle)phid, &dataRateMax);
CPhidgetSpatial_getDataRateMin((CPhidgetSpatialHandle)phid, &dataRateMin);
CPhidgetSpatial_getDataRate((CPhidgetSpatialHandle)phid, &dataRateCurr);
printf("IMU Serial Number: %10i\n", serialNo);
printf("IMU Version: %8i\n", version);
printf("IMU Number of Accel Axes: %i\n", numAccelAxes);
printf("IMU Number of Gyro Axes: %i\n", numGyroAxes);
printf("IMU Number of Compass Axes: %i\n", numCompassAxes);
printf("IMU datarate> Min: %d Max: %d Current: %d\n", dataRateMin, dataRateMax, dataRateCurr);
}
int Spatial::getDataRate()
{
int milliseconds;
CPhidgetSpatial_getDataRate(spatial_handle_, &milliseconds);
return milliseconds;
}
