Core Motion传感器原始数据

1、访问原始的Motion数据

#import <UIKit/UIKit.h>
#import <CoreMotion/CoreMotion.h>

@interface ViewController : UIViewController

@property (strong, nonatomic) IBOutlet UILabel *xAccLabel;
@property (strong, nonatomic) IBOutlet UILabel *yAccLabel;
@property (strong, nonatomic) IBOutlet UILabel *zAccLabel;
@property (strong, nonatomic) IBOutlet UILabel *xGyroLabel;
@property (strong, nonatomic) IBOutlet UILabel *yGyroLabel;
@property (strong, nonatomic) IBOutlet UILabel *zGyroLabel;
@property (strong, nonatomic) IBOutlet UILabel *xMagLabel;
@property (strong, nonatomic) IBOutlet UILabel *yMagLabel;
@property (strong, nonatomic) IBOutlet UILabel *zMagLabel;

@property (nonatomic, strong) CMMotionManager * motionManager;

- (void)startUpdates;
- (void)stopUpdates;

- (CMMotionManager *)motionManager
{
    if (_motionManager == nil)
    {
        _motionManager = [[CMMotionManager alloc] init];
    }
    return _motionManager;
}

- (void)startUpdates
{
    // Start accelerometer if available
    if ([self.motionManager isAccelerometerAvailable])
    {
        [self.motionManager setAccelerometerUpdateInterval:1.0/2.0]; //Update twice per second
        [self.motionManager startAccelerometerUpdatesToQueue:[NSOperationQueue mainQueue]
                                                 withHandler:
         ^(CMAccelerometerData *data, NSError *error)
         {
             self.xAccLabel.text = [NSString stringWithFormat:@"%f", data.acceleration.x];
             self.yAccLabel.text = [NSString stringWithFormat:@"%f", data.acceleration.y];
             self.zAccLabel.text = [NSString stringWithFormat:@"%f", data.acceleration.z];
         }];
    }

    // Start gyroscope if available
    if ([self.motionManager isGyroAvailable])
    {
        [self.motionManager setGyroUpdateInterval:1.0/2.0]; //Update twice per second
        [self.motionManager startGyroUpdatesToQueue:[NSOperationQueue mainQueue]
                                        withHandler:
         ^(CMGyroData *data, NSError *error)
         {
             self.xGyroLabel.text = [NSString stringWithFormat:@"%f", data.rotationRate.x];
             self.yGyroLabel.text = [NSString stringWithFormat:@"%f", data.rotationRate.y];
             self.zGyroLabel.text = [NSString stringWithFormat:@"%f", data.rotationRate.z];
         }];
    }

    // Start magnetometer if available
    if ([self.motionManager isMagnetometerAvailable])
    {
        [self.motionManager setMagnetometerUpdateInterval:1.0/2.0]; //Update twice per second
        [self.motionManager startMagnetometerUpdatesToQueue:[NSOperationQueue mainQueue]
                                                withHandler:
         ^(CMMagnetometerData *data, NSError *error)
         {
             self.xMagLabel.text = [NSString stringWithFormat:@"%f", data.magneticField.x];
             self.yMagLabel.text = [NSString stringWithFormat:@"%f", data.magneticField.y];
             self.zMagLabel.text = [NSString stringWithFormat:@"%f", data.magneticField.z];
         }];
    }
}

-(void)stopUpdates
{
    if ([self.motionManager isAccelerometerAvailable] && [self.motionManager isAccelerometerActive])
    {
        [self.motionManager stopAccelerometerUpdates];
    }

    if ([self.motionManager isGyroAvailable] && [self.motionManager isGyroActive])
    {
        [self.motionManager stopGyroUpdates];
    }

    if ([self.motionManager isMagnetometerAvailable] && [self.motionManager isMagnetometerActive])
    {
        [self.motionManager stopMagnetometerUpdates];
    }

}

- (void)applicationWillResignActive:(UIApplication *)application
{
    [self.viewController stopUpdates];
}

- (void)applicationDidBecomeActive:(UIApplication *)application
{
    [self.viewController startUpdates];
}

2、访问设备的Motion数据

#import <UIKit/UIKit.h>
#import <CoreMotion/CoreMotion.h>

@interface ViewController : UIViewController

@property (strong, nonatomic) IBOutlet UILabel *rollLabel;
@property (strong, nonatomic) IBOutlet UILabel *pitchLabel;
@property (strong, nonatomic) IBOutlet UILabel *yawLabel;
@property (strong, nonatomic) IBOutlet UILabel *xRotLabel;
@property (strong, nonatomic) IBOutlet UILabel *yRotLabel;
@property (strong, nonatomic) IBOutlet UILabel *zRotLabel;
@property (strong, nonatomic) IBOutlet UILabel *xGravLabel;
@property (strong, nonatomic) IBOutlet UILabel *yGravLabel;
@property (strong, nonatomic) IBOutlet UILabel *zGravLabel;
@property (strong, nonatomic) IBOutlet UILabel *xAccLabel;
@property (strong, nonatomic) IBOutlet UILabel *yAccLabel;
@property (strong, nonatomic) IBOutlet UILabel *zAccLabel;
@property (strong, nonatomic) IBOutlet UILabel *xMagLabel;
@property (strong, nonatomic) IBOutlet UILabel *yMagLabel;
@property (strong, nonatomic) IBOutlet UILabel *zMagLabel;

@property (nonatomic, strong) CMMotionManager *motionManager;

- (void)startUpdates;
- (void)stopUpdates;

@end

- (CMMotionManager *)motionManager
{
    // Lazy initialization
    if (_motionManager == nil)
    {
        _motionManager = [[CMMotionManager alloc] init];
    }
    return _motionManager;
}

- (void)startUpdates
{
    // Start device motion updates
    if ([self.motionManager isDeviceMotionAvailable])
    {
         //Update twice per second
        [self.motionManager setDeviceMotionUpdateInterval:1.0/2.0];
        [self.motionManager startDeviceMotionUpdatesUsingReferenceFrame:
                            CMAttitudeReferenceFrameXMagneticNorthZVertical
                            toQueue:[NSOperationQueue mainQueue]
                            withHandler:
         ^(CMDeviceMotion *deviceMotion, NSError *error)
         {
             // Update attitude labels
             self.rollLabel.text = [NSString stringWithFormat:@"%f", deviceMotion.attitude.roll];
             self.pitchLabel.text = [NSString stringWithFormat:@"%f", deviceMotion.attitude.pitch];
             self.yawLabel.text = [NSString stringWithFormat:@"%f", deviceMotion.attitude.yaw];

             // Update rotation rate labels
             self.xRotLabel.text = [NSString stringWithFormat:@"%f", deviceMotion.rotationRate.x];
             self.yRotLabel.text = [NSString stringWithFormat:@"%f", deviceMotion.rotationRate.y];
             self.zRotLabel.text = [NSString stringWithFormat:@"%f", deviceMotion.rotationRate.z];

             // Update user acceleration labels
             self.xGravLabel.text = [NSString stringWithFormat:@"%f", deviceMotion.gravity.x];
             self.yGravLabel.text = [NSString stringWithFormat:@"%f", deviceMotion.gravity.y];
             self.zGravLabel.text = [NSString stringWithFormat:@"%f", deviceMotion.gravity.z];

             // Update user acceleration labels
             self.xAccLabel.text = [NSString stringWithFormat:@"%f", deviceMotion.userAcceleration.x];
             self.yAccLabel.text = [NSString stringWithFormat:@"%f", deviceMotion.userAcceleration.y];
             self.zAccLabel.text = [NSString stringWithFormat:@"%f", deviceMotion.userAcceleration.z];

             // Update magnetic field labels
             self.xMagLabel.text = [NSString stringWithFormat:@"%f", deviceMotion.magneticField.field.x];
             self.yMagLabel.text = [NSString stringWithFormat:@"%f", deviceMotion.magneticField.field.y];
             self.zMagLabel.text = [NSString stringWithFormat:@"%f", deviceMotion.magneticField.field.z];
         }];
    }
}

-(void)stopUpdates
{
    if ([self.motionManager isDeviceMotionAvailable] && [self.motionManager isDeviceMotionActive])
    {
        [self.motionManager stopDeviceMotionUpdates];
    }
}

- (void)applicationWillResignActive:(UIApplication *)application
{
    [self.viewController stopUpdates];
}

- (void)applicationDidBecomeActive:(UIApplication *)application
{
    [self.viewController startUpdates];
}