@Override
public void timestampedDataReceived(
long curr_system_timestamp, long curr_sensor_timestamp, Object kind) {
if (timestamped && (kind.getClass() == AHRS.DeviceDataType.class)) {
double process_value;
switch (timestamped_src) {
case YAW:
process_value = navx_device.getYaw();
break;
case PITCH:
process_value = navx_device.getPitch();
break;
case ROLL:
process_value = navx_device.getRoll();
break;
case COMPASS_HEADING:
process_value = navx_device.getCompassHeading();
break;
case FUSED_HEADING:
process_value = navx_device.getFusedHeading();
break;
case LINEAR_ACCEL_X:
process_value = navx_device.getWorldLinearAccelX();
break;
case LINEAR_ACCEL_Y:
process_value = navx_device.getWorldLinearAccelY();
break;
case LINEAR_ACCEL_Z:
process_value = navx_device.getWorldLinearAccelZ();
break;
default:
process_value = 0.0;
break;
}
int num_missed_samples = 0; /* TODO */
last_system_timestamp = curr_system_timestamp;
last_sensor_timestamp = curr_sensor_timestamp;
double output = this.stepController(process_value, num_missed_samples);
synchronized (sync_event) {
sync_event.notify();
}
}
}
