Stanford CS193p

Developing Applications for iOS

Spring 2016

CS193p

Spring 2016
 Today
Animation Continued
Dynamic Animation Demo - DropIt

CoreMotion
Where is the device in space?

CS193p

Spring 2016
 Demo
Dropit
Sort of a “pre-Tetris” demo

CS193p

Spring 2016
 Core Motion
API to access motion sensing hardware on your device
Primary inputs: Accelerometer, Gyro, Magnetometer
Not all devices have all inputs (e.g. only later model devices have a gyro)

Class used to get this input is CMMotionManager

Use only one instance per application (else performance hit)
It is a “global resource,” so getting one via a class method somewhere is okay

Usage
1. Check to see what hardware is available
2. Start the sampling going and poll the motion manager for the latest sample it has
... or ...
1. Check to see what hardware is available
2. Set the rate at which you want data to be reported from the hardware
3. Register a closure (and a queue to run it on) to call each time a sample is taken

CS193p

Spring 2016
 Core Motion
Checking availability of hardware sensors
var {accelerometer,gyro,magnetometer,deviceMotion}Available: Bool
The “device motion” is a combination of all available (accelerometer, magnetometer, gyro).
We’ll talk more about that in a couple of slides.

Starting the hardware sensors collecting data

You only need to do this if you are going to poll for data.
func start{Accelerometer,Gyro,Magnetometer,DeviceMotion}Updates()

Is the hardware currently collecting data?

var {accelerometer,gyro,magnetometer,deviceMotion}Active: Bool

Stop the hardware collecting data

It is a performance hit to be collecting data, so stop during times you don’t need the data.
func stop{Accelerometer,Gyro,Magnetometer,DeviceMotion}Updates()

CS193p

Spring 2016
 Core Motion
Checking the data (polling not recommended, more later)
var accelerometerData: CMAccelerometerData
CMAccelerometerData object provides var acceleration: CMAcceleration
struct CMAcceleration {
var x: Double // in g (9.8 m/s/s)
var y: Double // in g
var z: Double // in g
}
This raw data includes acceleration due to gravity
So, if the device were laid flat, z would be 1.0 and x and y would be 0.0

CS193p

Spring 2016
 Core Motion
Checking the data (polling not recommended, more later)
var gyroData: CMGyroData
CMGyroData object provides var rotationRate: CMRotationRate
struct CMRotationRate {
var x: Double // in radians/s
var y: Double // in radians/s
var z: Double // in radians/s
}
Sign of the rotation data follows right hand rule
The data above will be biased

CS193p

Spring 2016
 Core Motion
Checking the data (polling not recommended, more later)
var magnetometerData: CMMagnetometerData
CMMagnetometerData object provides var magneticField: CMMagneticField
struct CMMagneticField {
var x: Double // in microteslas
var y: Double // in microteslas
var z: Double // in microteslas
}
The data above will be biased

CS193p

Spring 2016
 CMDeviceMotion
Acceleration Data in CMDeviceMotion
var gravity: CMAcceleration
var userAcceleration: CMAcceleration // gravity factored out using gyro

Rotation Data in CMDeviceMotion

var rotationRate: CMRotationRate // bias removed from raw data using accelerometer
var attitude: CMAttitude // device’s attitude (orientation) in 3D space
class CMAttitude: NSObject // roll, pitch and yaw are in radians
var roll: Double // around longitudinal axis passing through top/bottom
var pitch: Double // around lateral axis passing through sides
var yaw: Double // around axis with origin at CofG and ⊥ to screen directed down
}
// other mathematical representations of the device’s attitude also available

CS193p

Spring 2016
 CMDeviceMotion
Magnetic Field Data in CMDeviceMotion
var magneticField: CMCalibratedMagneticField
struct CMCalibratedMagneticField {
var field: CMMagneticField
var accuracy: CMMagneticFieldCalibrationAccuracy
}
accuracy can be …
CMMagneticFieldCalibrationAccuracyUncalibrated
CMMagneticFieldCalibrationAccuracyLow
CMMagneticFieldCalibrationAccuracyMedium
CMMagneticFieldCalibrationAccuracyHigh

CS193p

Spring 2016
 Core Motion
Registering a block to receive Accelerometer data
func startAccelerometerUpdatesToQueue(queue: NSOperationQueue,
withHandler: CMAccelerometerHandler)
typealias CMAccelerationHandler = (CMAccelerometerData?, NSError?) -> Void
queue can be an NSOperationQueue() you create or NSOperation.mainQueue (or currentQueue)

Registering a block to receive Gyro data

func startGyroUpdatesToQueue(queue: NSOperationQueue,
withHandler: CMGyroHandler)
typealias CMGyroHandler = (CMGyroData?, NSError?) -> Void

Registering a block to receive Magnetometer data

func startMagnetometerUpdatesToQueue(queue: NSOperationQueue,
withHandler: CMMagnetometerHandler)
typealias CMMagnetometerHandler = (CMMagnetometerData?, NSError?) -> Void

CS193p

Spring 2016
 Core Motion
Registering a block to receive DeviceMotion data
func startDeviceMotionUpdatesToQueue(queue: NSOperationQueue,
withHandler: CMDeviceMotionHandler)
typealias CMDeviceMotionHandler = (CMDeviceMotion?, NSError?) -> Void
queue can be an NSOperationQueue() you create or NSOperation.mainQueue (or currentQueue)
Errors … CMErrorDeviceRequiresMovement
CMErrorTrueNorthNotAvailable
CMErrorMotionActivityNotAvailable
CMErrorMotionActivityNotAuthorized

CS193p

Spring 2016
 Core Motion
Setting the rate at which your block gets executed
var accelerometerUpdateInterval: NSTimeInterval
var gyroUpdateInterval: NSTimeInterval
var magnetometerUpdateInterval: NSTimeInterval
var deviceMotionUpdateInterval: NSTimeInterval

It is okay to add multiple handler blocks

Even though you are only allowed one CMMotionManager
However, each of the blocks will receive the data at the same rate (as set above)
(Multiple objects are allowed to poll at the same time as well, of course.)

CS193p

Spring 2016
 Demo
More DropIt
Make DropIt’s gravity match real gravity

CS193p

Spring 2016