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; }