__ ____ ______ _____ _ _ _____ _____
| \/ \ \ / / __ \ / ____| | | | /\ | __ \| __ \
| \ / |\ \_/ / | | | (___ | |__| | / \ | |__) | |__) |
| |\/| | \ /| | | |\___ \| __ | / /\ \ | _ /| ___/
| | | | | | | |__| |____) | | | |/ ____ \| | \ \| |
|_| |_| |_| \____/|_____/|_| |_/_/ \_\_| \_\_|
C# Wrapper for the Myo Armband
The goal of this project is to create a high-level object-oriented C# API for devs to easily interact with the Myo.
MyoSharp is compatible with .NET 2.0+
EnvironmentSetupVisualization in WinFormsPose SequencesHolding PosesRoll, Pitch and Yaw DataAcquiring EMG DataLicense
using MyoSharp.Communication; using MyoSharp.Device; using MyoSharp.ConsoleSample.Internal; using MyoSharp.Exceptions;
namespace MyoSharp.ConsoleSample { ///
// listen for when the Myo disconnects
hub.MyoDisconnected += (sender, e) =>
{
Console.WriteLine("Oh no! It looks like {0} arm Myo has disconnected!", e.Myo.Arm);
e.Myo.PoseChanged -= Myo_PoseChanged;
e.Myo.Locked -= Myo_Locked;
e.Myo.Unlocked -= Myo_Unlocked;
};
// start listening for Myo data
channel.StartListening();
// wait on user input
ConsoleHelper.UserInputLoop(hub);
}
}
#endregion
#region Event Handlers
private static void Myo_PoseChanged(object sender, PoseEventArgs e)
{
Console.WriteLine("{0} arm Myo detected {1} pose!", e.Myo.Arm, e.Myo.Pose);
}
private static void Myo_Unlocked(object sender, MyoEventArgs e)
{
Console.WriteLine("{0} arm Myo has unlocked!", e.Myo.Arm);
}
private static void Myo_Locked(object sender, MyoEventArgs e)
{
Console.WriteLine("{0} arm Myo has locked!", e.Myo.Arm);
}
#endregion
}
}
<a name='winformvis' />
### Visualizations in WinForms
Running the MyoSHarp.EmgVisualization project will pop up a form that allows you to view the EMG data that comes in from the device. It uses a ZedGraph component to do all of the drawing, and has some simple features like toggling sensors and zooming in to regions. It's primitive, but it should give you an idea what the data looks like.
<a name='poseseq' />
### Detecting Sequences of Poses
With this implementation, you can define your own creative sequences of poses. See the example below.
``` C#
using System;
using MyoSharp.Communication;
using MyoSharp.Device;
using MyoSharp.ConsoleSample.Internal;
using MyoSharp.Poses;
using MyoSharp.Exceptions;
namespace MyoSharp.ConsoleSample
{
/// <summary>
/// Myo devices can notify you every time the device detects that the user
/// is performing a different pose. However, sometimes it's useful to know
/// when a user has performed a series of poses. A
/// <see cref="PoseSequence"/> can monitor a Myo for a series of poses and
/// notify you when that sequence has completed.
/// </summary>
/// <remarks>
/// Not sure how to use this example?
/// - Open Visual Studio
/// - Go to the solution explorer
/// - Find the project that this file is contained within
/// - Right click on the project in the solution explorer, go to "properties"
/// - Go to the "Application" tab
/// - Under "Startup object" pick this example from the list
/// - Hit F5 and you should be good to go!
/// </remarks>
internal class PoseSequenceExample
{
#region Methods
private static void Main()
{
// create a hub to manage Myos
using (var channel = Channel.Create(
ChannelDriver.Create(ChannelBridge.Create(),
MyoErrorHandlerDriver.Create(MyoErrorHandlerBridge.Create()))))
using (var hub = Hub.Create(channel))
{
// listen for when a Myo connects
hub.MyoConnected += (sender, e) =>
{
Console.WriteLine("Myo {0} has connected!", e.Myo.Handle);
// for every Myo that connects, listen for special sequences
var sequence = PoseSequence.Create(
e.Myo,
Pose.WaveOut,
Pose.WaveIn);
sequence.PoseSequenceCompleted += Sequence_PoseSequenceCompleted;
};
// start listening for Myo data
channel.StartListening();
ConsoleHelper.UserInputLoop(hub);
}
}
#endregion
#region Event Handlers
private static void Sequence_PoseSequenceCompleted(object sender, PoseSequenceEventArgs e)
{
Console.WriteLine("{0} arm Myo has performed a pose sequence!", e.Myo.Arm);
e.Myo.Vibrate(VibrationType.Medium);
}
#endregion
}
}
using MyoSharp.Communication; using MyoSharp.Device; using MyoSharp.ConsoleSample.Internal; using MyoSharp.Poses; using MyoSharp.Exceptions;
namespace MyoSharp.ConsoleSample { ///
// unlock the Myo so that it doesn't keep locking between our poses
e.Myo.Unlock(UnlockType.Hold);
// setup for the pose we want to watch for
var pose = HeldPose.Create(e.Myo, Pose.Fist, Pose.FingersSpread);
// set the interval for the event to be fired as long as
// the pose is held by the user
pose.Interval = TimeSpan.FromSeconds(0.5);
pose.Start();
pose.Triggered += Pose_Triggered;
};
// start listening for Myo data
channel.StartListening();
ConsoleHelper.UserInputLoop(hub);
}
}
#endregion
#region Event Handlers
private static void Pose_Triggered(object sender, PoseEventArgs e)
{
Console.WriteLine("{0} arm Myo is holding pose {1}!", e.Myo.Arm, e.Pose);
}
#endregion
}
}
<a name='rpy' />
### Getting Roll, Pitch and Yaw data
Don't get lost in the orientation Quaternion vectors, use the <strong>OrientationDataEventArgs</strong> object to get the roll, pitch and yaw of the Myo
``` C#
using System;
using MyoSharp.Communication;
using MyoSharp.Device;
using MyoSharp.ConsoleSample.Internal;
using MyoSharp.Exceptions;
namespace MyoSharp.ConsoleSample
{
/// <summary>
/// This example will show you how to hook onto the orientation events on
/// the Myo and pull roll, pitch and yaw values from it. In this example the
/// raw vectors from the orientation event args are converted to roll, pitch and yaw
/// on a scale from 0 to 9, depending on the position of the myo
/// </summary>
/// <remarks>
/// Not sure how to use this example?
/// - Open Visual Studio
/// - Go to the solution explorer
/// - Find the project that this file is contained within
/// - Right click on the project in the solution explorer, go to "properties"
/// - Go to the "Application" tab
/// - Under "Startup object" pick this example from the list
/// - Hit F5 and you should be good to go!
/// </remarks>
internal class OrientationExample
{
#region Methods
private static void Main()
{
// create a hub that will manage Myo devices for us
using (var channel = Channel.Create(
ChannelDriver.Create(ChannelBridge.Create(),
MyoErrorHandlerDriver.Create(MyoErrorHandlerBridge.Create()))))
using (var hub = Hub.Create(channel))
{
// listen for when the Myo connects
hub.MyoConnected += (sender, e) =>
{
Console.WriteLine("Myo {0} has connected!", e.Myo.Handle);
e.Myo.Vibrate(VibrationType.Short);
e.Myo.OrientationDataAcquired += Myo_OrientationDataAcquired;
};
// listen for when the Myo disconnects
hub.MyoDisconnected += (sender, e) =>
{
Console.WriteLine("Oh no! It looks like {0} arm Myo has disconnected!", e.Myo.Arm);
e.Myo.OrientationDataAcquired -= Myo_OrientationDataAcquired;
};
// start listening for Myo data
channel.StartListening();
// wait on user input
ConsoleHelper.UserInputLoop(hub);
}
}
#endregion
#region Event Handlers
private static void Myo_OrientationDataAcquired(object sender, OrientationDataEventArgs e)
{
const float PI = (float)System.Math.PI;
// convert the values to a 0-9 scale (for easier digestion/understanding)
var roll = (int)((e.Roll + PI) / (PI * 2.0f) * 10);
var pitch = (int)((e.Pitch + PI) / (PI * 2.0f) * 10);
var yaw = (int)((e.Yaw + PI) / (PI * 2.0f) * 10);
Console.Clear();
Console.WriteLine(@"Roll: {0}", roll);
Console.WriteLine(@"Pitch: {0}", pitch);
Console.WriteLine(@"Yaw: {0}", yaw);
}
#endregion
}
}
using MyoSharp.Communication; using MyoSharp.Device; using MyoSharp.ConsoleSample.Internal; using MyoSharp.Exceptions;
namespace MyoSharp.ConsoleSample { ///
// listen for when the Myo disconnects
hub.MyoDisconnected += (sender, e) =>
{
Console.WriteLine("Oh no! It looks like {0} arm Myo has disconnected!", e.Myo.Arm);
e.Myo.SetEmgStreaming(false);
e.Myo.EmgDataAcquired -= Myo_EmgDataAcquired;
};
// start listening for Myo data
channel.StartListening();
// wait on user input
ConsoleHelper.UserInputLoop(hub);
}
}
#endregion
#region Event Handlers
private static void Myo_EmgDataAcquired(object sender, EmgDataEventArgs e)
{
// TODO: write your code to interpret EMG data!
}
#endregion
}
}
<a name='license' />
### License
MyoSharp uses the MIT License.
Copyright (c) 2014 Nick Cosentino, Tayfun Uzun