SensorFusion / Quaternion (MetaWear - NodeJS SDK - Linux)

console.log

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metawear.js

var ref = require('ref');
var MetaWear = require('metawear');
MetaWear.discoverByAddress('d3:dc:35:62:0d:2e', function(device) {

    device.on('disconnect', function () {
        console.log('we got disconnected! :( ');
    });


    device.connectAndSetUp(function (error) {

        console.log('Enable Quaterion')
        var quaternion = MetaWear.mbl_mw_sensor_fusion_get_data_signal(device.board, MetaWear.MBL_MW_SENSOR_FUSION_DATA_QUATERION);
        MetaWear.mbl_mw_datasignal_subscribe(quaternion, ref.NULL, MetaWear.FnVoid_VoidP_DataP.toPointer(function gotTimer(context, dataPtr) {
            var data = dataPtr.deref();
            var pt = data.parseValue();
            console.log(pt.w, pt.x, pt.y, pt.z);
        }));
        MetaWear.mbl_mw_sensor_fusion_enable_data(device.board, MetaWear.MBL_MW_SENSOR_FUSION_DATA_QUATERNION);


        console.log('Configure Mode')
        MetaWear.mbl_mw_settings_set_connection_parameters(device.board, 7.5, 7.5, 0, 6000)
        MetaWear.mbl_mw_sensor_fusion_set_mode(device.board, MetaWear.SensorFusionMode.NDOF)
        MetaWear.mbl_mw_sensor_fusion_set_acc_range(device.board, MetaWear.MBL_MW_SENSOR_FUSION_ACC_RANGE_2G);
        MetaWear.mbl_mw_sensor_fusion_set_gyro_range(device.board, MetaWear.MBL_MW_SENSOR_FUSION_GYRO_RANGE_250DPS);
        MetaWear.mbl_mw_sensor_fusion_write_config(device.board)

        console.log('Start streaming')
        MetaWear.mbl_mw_sensor_fusion_start(device.board)


        // Stop after 5 seconds
        setTimeout(function () {
            MetaWear.mbl_mw_sensor_fusion_stop(device.board)
            MetaWear.mbl_mw_sensor_fusion_clear_enabled_mask(device.board)
            MetaWear.mbl_mw_datasignal_unsubscribe(quaternion);
            MetaWear.mbl_mw_debug_disconnect(device.board);
        }, 4000);
    })
});