Reading sensor values from iOS devices.

MotionPublisher.swift

import Combine
import CoreMotion
import Foundation

class MotionPublisher: ObservableObject {
    
    @Published var accelerationX: Double = 0.0
    @Published var accelerationY: Double = 0.0
    @Published var accelerationZ: Double = 0.0
    
    @Published var rotationX: Double = 0.0
    @Published var rotationY: Double = 0.0
    @Published var rotationZ: Double = 0.0
    
    @Published var roll: Double = 0.0
    @Published var pitch: Double = 0.0
    @Published var yaw: Double = 0.0
    
    private var motionManager: CMMotionManager
    
    public init() {
        motionManager = CMMotionManager()
        motionManager.startAccelerometerUpdates(to: .main) {accelerometerData, error in
            guard let accelerometerData = accelerometerData else { return }
            self.accelerationX = accelerometerData.acceleration.x
            self.accelerationY = accelerometerData.acceleration.y
            self.accelerationZ = accelerometerData.acceleration.z
        }
        
        motionManager.startGyroUpdates(to: .main) {gyroData, error in
            guard let gyroData = gyroData else { return }
            self.rotationX = gyroData.rotationRate.x
            self.rotationY = gyroData.rotationRate.y
            self.rotationZ = gyroData.rotationRate.z
        }
        
        motionManager.startDeviceMotionUpdates(to: .main) { (deviceMotion, error) in
            guard let deviceMotion = deviceMotion else { return }
            self.roll = deviceMotion.attitude.roll
            self.pitch = deviceMotion.attitude.pitch
            self.yaw = deviceMotion.attitude.yaw
        }
    }
}