Phidget Spatial
[Specific Phidgets]


Data Structures
struct	_CPhidgetSpatial_SpatialEventData
Typedefs
typedef struct _CPhidgetSpatial *	CPhidgetSpatialHandle
typedef struct _CPhidgetSpatial_SpatialEventData	CPhidgetSpatial_SpatialEventData
typedef struct _CPhidgetSpatial_SpatialEventData *	CPhidgetSpatial_SpatialEventDataHandle
Functions
int	CPhidgetSpatial_create (CPhidgetSpatialHandle *phid)
int	CPhidgetSpatial_getAccelerationAxisCount (CPhidgetSpatialHandle phid, int *count)
int	CPhidgetSpatial_getGyroAxisCount (CPhidgetSpatialHandle phid, int *count)
int	CPhidgetSpatial_getCompassAxisCount (CPhidgetSpatialHandle phid, int *count)
int	CPhidgetSpatial_getAcceleration (CPhidgetSpatialHandle phid, int index, double *acceleration)
int	CPhidgetSpatial_getAccelerationMax (CPhidgetSpatialHandle phid, int index, double *max)
int	CPhidgetSpatial_getAccelerationMin (CPhidgetSpatialHandle phid, int index, double *min)
int	CPhidgetSpatial_getAngularRate (CPhidgetSpatialHandle phid, int index, double *angularRate)
int	CPhidgetSpatial_getAngularRateMax (CPhidgetSpatialHandle phid, int index, double *max)
int	CPhidgetSpatial_getAngularRateMin (CPhidgetSpatialHandle phid, int index, double *min)
int	CPhidgetSpatial_getMagneticField (CPhidgetSpatialHandle phid, int index, double *magneticField)
int	CPhidgetSpatial_getMagneticFieldMax (CPhidgetSpatialHandle phid, int index, double *max)
int	CPhidgetSpatial_getMagneticFieldMin (CPhidgetSpatialHandle phid, int index, double *min)
int	CPhidgetSpatial_zeroGyro (CPhidgetSpatialHandle phid)
int	CPhidgetSpatial_getDataRate (CPhidgetSpatialHandle phid, int *milliseconds)
int	CPhidgetSpatial_setDataRate (CPhidgetSpatialHandle phid, int milliseconds)
int	CPhidgetSpatial_getDataRateMax (CPhidgetSpatialHandle phid, int *max)
int	CPhidgetSpatial_getDataRateMin (CPhidgetSpatialHandle phid, int *min)
int	CPhidgetSpatial_setCompassCorrectionParameters (CPhidgetSpatialHandle phid, double magField, double offset0, double offset1, double offset2, double gain0, double gain1, double gain2, double T0, double T1, double T2, double T3, double T4, double T5)
int	CPhidgetSpatial_resetCompassCorrectionParameters (CPhidgetSpatialHandle phid)
int	CPhidgetSpatial_set_OnSpatialData_Handler (CPhidgetSpatialHandle phid, int(fptr)(CPhidgetSpatialHandle phid, void userPtr, CPhidgetSpatial_SpatialEventDataHandle data, int dataCount), void userPtr)

Detailed Description

These calls are specific to the Phidget Spatial object. See your device's User Guide for more specific API details, technical information, and revision details. The User Guide, along with other resources, can be found on the product page for your device.

Typedef Documentation

typedef struct _CPhidgetSpatial* CPhidgetSpatialHandle

A Phidget Spatial handle

typedef struct _CPhidgetSpatial_SpatialEventData CPhidgetSpatial_SpatialEventData

Timestamped position data returned by the CPhidgetSpatial_set_OnSpatialData_Handler event.

Function Documentation

int CPhidgetSpatial_create ( CPhidgetSpatialHandle * phid )

Creates a Phidget Spatial handle.

Parameters:

phid

A pointer to an unallocated Phidget Spatial handle.

int CPhidgetSpatial_getAccelerationAxisCount	(	CPhidgetSpatialHandle	phid,
		int *	count
	)

Gets the number of acceleration axes supplied by this board.

Parameters:

	phid	An attached phidget spatial handle.
	count	The number of acceleration axes.

int CPhidgetSpatial_getGyroAxisCount	(	CPhidgetSpatialHandle	phid,
		int *	count
	)

Gets the number of gyroscope axes supplied by this board.

Parameters:

	phid	An attached phidget spatial handle.
	count	The number of gyro axes.

int CPhidgetSpatial_getCompassAxisCount	(	CPhidgetSpatialHandle	phid,
		int *	count
	)

Gets the number of compass axes supplied by this board.

Parameters:

	phid	An attached phidget spatial handle.
	count	The number of compass axes.

int CPhidgetSpatial_getAcceleration	(	CPhidgetSpatialHandle	phid,
		int	index,
		double *	acceleration
	)

Gets the current acceleration of an axis.

Parameters:

	phid	An attached phidget spatial handle.
	index	The acceleration index.
	acceleration	The acceleration in gs.

int CPhidgetSpatial_getAccelerationMax	(	CPhidgetSpatialHandle	phid,
		int	index,
		double *	max
	)

Gets the maximum accleration supported by an axis.

Parameters:

	phid	An attached phidget spatial handle.
	index	The acceleration index
	max	The maximum acceleration

int CPhidgetSpatial_getAccelerationMin	(	CPhidgetSpatialHandle	phid,
		int	index,
		double *	min
	)

Gets the minimum acceleration supported by an axis.

Parameters:

	phid	An attached phidget spatial handle.
	index	The acceleration index
	min	The minimum acceleration

int CPhidgetSpatial_getAngularRate	(	CPhidgetSpatialHandle	phid,
		int	index,
		double *	angularRate
	)

Gets the current angular rate of an axis.

Parameters:

	phid	An attached phidget spatial handle.
	index	The angular rate index.
	angularRate	The angular rate in degrees/second.

int CPhidgetSpatial_getAngularRateMax	(	CPhidgetSpatialHandle	phid,
		int	index,
		double *	max
	)

Gets the maximum angular rate supported by an axis.

Parameters:

	phid	An attached phidget spatial handle.
	index	The angular rate index
	max	The maximum angular rate

int CPhidgetSpatial_getAngularRateMin	(	CPhidgetSpatialHandle	phid,
		int	index,
		double *	min
	)

Gets the minimum angular rate supported by an axis.

Parameters:

	phid	An attached phidget spatial handle.
	index	The angular rate index
	min	The minimum angular rate

int CPhidgetSpatial_getMagneticField	(	CPhidgetSpatialHandle	phid,
		int	index,
		double *	magneticField
	)

Gets the current magnetic field stregth of an axis.

Parameters:

	phid	An attached phidget spatial handle.
	index	The magnetic field index.
	magneticField	The magnetic field strength in Gauss.

int CPhidgetSpatial_getMagneticFieldMax	(	CPhidgetSpatialHandle	phid,
		int	index,
		double *	max
	)

Gets the maximum magnetic field stregth supported by an axis.

Parameters:

	phid	An attached phidget spatial handle.
	index	The magnetic field index
	max	The maximum magnetic field stregth

int CPhidgetSpatial_getMagneticFieldMin	(	CPhidgetSpatialHandle	phid,
		int	index,
		double *	min
	)

Gets the minimum magnetic field stregth supported by an axis.

Parameters:

	phid	An attached phidget spatial handle.
	index	The magnetic field index
	min	The minimum magnetic field stregth

int CPhidgetSpatial_zeroGyro ( CPhidgetSpatialHandle phid )

Zeroes the gyroscope. This takes about two seconds and the gyro zxes will report 0 during the process. This should only be called when the board is not moving.

Parameters:

phid

An attached phidget spatial handle.

int CPhidgetSpatial_getDataRate	(	CPhidgetSpatialHandle	phid,
		int *	milliseconds
	)

Get the data rate.

Parameters:

	phid	An attached phidget spatial handle.
	milliseconds	The data rate in milliseconds.

int CPhidgetSpatial_setDataRate	(	CPhidgetSpatialHandle	phid,
		int	milliseconds
	)

Sets the data rate. Note that data at rates faster then 8ms will be delivered to events as an array of data.

Parameters:

	phid	An attached phidget spatial handle.
	milliseconds	The data rate in milliseconds.

int CPhidgetSpatial_getDataRateMax	(	CPhidgetSpatialHandle	phid,
		int *	max
	)

Gets the maximum supported data rate.

Parameters:

	phid	An attached phidget spatial handle.
	max	Data rate in ms.

int CPhidgetSpatial_getDataRateMin	(	CPhidgetSpatialHandle	phid,
		int *	min
	)

Gets the minimum supported data rate.

Parameters:

	phid	An attached phidget spatial handle.
	min	Data rate in ms.

int CPhidgetSpatial_setCompassCorrectionParameters	(	CPhidgetSpatialHandle	phid,
		double	magField,
		double	offset0,
		double	offset1,
		double	offset2,
		double	gain0,
		double	gain1,
		double	gain2,
		double	T0,
		double	T1,
		double	T2,
		double	T3,
		double	T4,
		double	T5
	)

Sets the compass correction factors. This can be used to correcting any sensor errors, including hard and soft iron offsets and sensor error factors.

Parameters:

	phid	An attached phidget spatial handle.
	magField	Local magnetic field strength.
	offset0	Axis 0 offset correction.
	offset1	Axis 1 offset correction.
	offset2	Axis 2 offset correction.
	gain0	Axis 0 gain correction.
	gain1	Axis 1 gain correction.
	gain2	Axis 2 gain correction.
	T0	Non-orthogonality correction factor 0.
	T1	Non-orthogonality correction factor 1.
	T2	Non-orthogonality correction factor 2.
	T3	Non-orthogonality correction factor 3.
	T4	Non-orthogonality correction factor 4.
	T5	Non-orthogonality correction factor 5.

int CPhidgetSpatial_resetCompassCorrectionParameters ( CPhidgetSpatialHandle phid )

Resets the compass correction factors. Magnetic field data will be presented directly as reported by the sensor.

Parameters:

phid

An attached phidget spatial handle.

int CPhidgetSpatial_set_OnSpatialData_Handler	(	CPhidgetSpatialHandle	phid,
		int()(CPhidgetSpatialHandle phid, void userPtr, CPhidgetSpatial_SpatialEventDataHandle *data, int dataCount)	fptr,
		void *	userPtr
	)

Set a Data event handler. This is called at /ref CPhidgetSpatial_getDataRate, up to 8ms, for faster then 8ms data, multiple sets of data are supplied in a single event.

Parameters:

	phid	An attached phidget spatial handle.
	fptr	Callback function pointer.
	userPtr	A pointer for use by the user - this value is passed back into the callback function.

Phidget Spatial [Specific Phidgets]

Data Structures

Typedefs

Functions

Detailed Description

Typedef Documentation

Function Documentation

Phidget Spatial
[Specific Phidgets]