How to use AbsoluteIMU-ACG sensor?

Your sensor is an I2C sensor. You can find information about the usage of an I2C sensor at https://github.com/Larsjep/monoev3/blob/release/MonoBrickFirmware/Sensors/HTColorSensor.cs. Other information about the adresses to be read etc. can be found in the official sourcecode for the NXC library: http://www.mindsensors.com/index.php?module=documents&JAS_DocumentManager_op=viewDocument&JAS_Document_id=198 (IMU-lib.nxc). The adress of the I2C sensor appears to be 0x22 as you can find in the demo (IMU-demo.nxc).

It may use the 9V I2C Sensor mode.

Could you please try the following code?

using System;
using MonoBrickFirmware.Sensors;

namespace MonoBrickHelloWorld
{
	public class MindsensorsAbsoluteIMU : I2CSensor
	{
		public MindsensorsAbsoluteIMU (SensorPort Port) : base (Port, (byte)0x22, I2CMode.LowSpeed)
		{
			base.Initialise ();
		}

		public void ChangeAccelerometerSensitivity (string Sensitivity)
		{
			byte[] BytesToWrite = {(byte)0};
			if (Sensitivity == "2G" || Sensitivity == "2g") BytesToWrite[0] = (byte) 0x31;
			else if (Sensitivity == "4G" || Sensitivity == "4g") BytesToWrite[0] = (byte) 0x32;
			else if (Sensitivity == "8G" || Sensitivity == "8g") BytesToWrite[0] = (byte) 0x33;
			else if (Sensitivity == "16G" || Sensitivity == "16g") BytesToWrite[0] = (byte) 0x34;
			else throw new ArgumentException();
			base.WriteRegister((byte)0x22, BytesToWrite);
			return;
		}

		public byte[] ReadX ()
		{
			return(base.ReadRegister ((byte)0x42, 8));
		}

		public byte[] ReadY ()
		{
			return(base.ReadRegister ((byte)0x43, 8));
		}

		public byte[] ReadZ ()
		{
			return(base.ReadRegister ((byte)0x44, 8));
		}

		public override string ReadAsString()
		{
			return("X: " + Convert.ToString(base.ReadRegister(0x42)) + " Y: " + Convert.ToString(base.ReadRegister(0x43)) + " Z: " + Convert.ToString(base.ReadRegister(0x44)));
		}

		public override void SelectNextMode()
		{
			return;
		}

		public override void SelectPreviousMode()
		{
			return;
		}

		public override string GetSensorName()
		{
			return (Convert.ToString (base.ReadRegister ((byte)0x10, (byte)0x07)));
		}

		public override int NumberOfModes()
		{
			return 1;
		}

		public override string SelectedMode()
		{
			return ("Mode 1");
		}
	}
}

using System;
using MonoBrickFirmware;
using MonoBrickFirmware.Display;
using MonoBrickFirmware.UserInput;
using System.Threading;
using MonoBrickFirmware.Sensors;

namespace MonoBrickHelloWorld
{
	class MainClass
	{
		public static void Main (string[] args)
		{
			EventWaitHandle stopped = new ManualResetEvent (false);
			MindsensorsAbsoluteIMU NewSensor = new MindsensorsAbsoluteIMU (SensorPort.In1);
			ButtonEvents buts = new ButtonEvents ();

			buts.EscapePressed += () => { 
				stopped.Set ();
			};

			buts.EnterPressed += () => {
				LcdConsole.WriteLine(NewSensor.ReadAsString());
			};

			LcdConsole.WriteLine ("Hello World");
			 
			stopped.WaitOne ();
		}
	}
}

(Why can’t we attach .cs files?)

• This reply was modified 10 years, 1 month ago by Tcm0.