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update reconnect imu

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QUYVN
2026-07-16 09:55:38 +07:00
parent 921bb91084
commit 0017128218
3 changed files with 21 additions and 21 deletions
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14
srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Drivers/WheeltecIMU/WheeltecN100IMU.cs
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@@ -202,13 +202,13 @@ namespace RobotNet10.RobotApp.Drivers.WheeltecIMU
var t = ((IInertialMeasurementUnit)this).LastUpdateTime;
var tempStr = temp.HasValue ? temp.Value.ToString("F2") : "NA";
Console.WriteLine(
$"{DateTime.Now:HH:mm:ss.ffffff} [IMU_DATA] " +
$"t={t:HH:mm:ss.fff} " +
$"acc=({acc.X:F3},{acc.Y:F3},{acc.Z:F3}) " +
$"gyro=({gyro.X:F5},{gyro.Y:F5},{gyro.Z:F5}) " +
$"rpy=({ori.X:F5},{ori.Y:F5},{ori.Z:F5}) " +
$"temp={tempStr}");
// Console.WriteLine(
// $"{DateTime.Now:HH:mm:ss.ffffff} [IMU_DATA] " +
// $"t={t:HH:mm:ss.fff} " +
// $"acc=({acc.X:F3},{acc.Y:F3},{acc.Z:F3}) " +
// $"gyro=({gyro.X:F5},{gyro.Y:F5},{gyro.Z:F5}) " +
// $"rpy=({ori.X:F5},{ori.Y:F5},{ori.Z:F5}) " +
// $"temp={tempStr}");
}
catch { }
}, null, dueTime: TimeSpan.Zero, period: _printDataInterval);