Bno055sensor;publicoverrideTaskInitialize(){Resolver.Log.Info("Initialize...");// create the sensor driversensor=newBno055(Device.CreateI2cBus());// classical .NET events can also be used:sensor.Updated+=(sender,result)=>{Resolver.Log.Info($"Accel: [X:{result.New.Acceleration3D?.X.MetersPerSecondSquared:N2},"+$"Y:{result.New.Acceleration3D?.Y.MetersPerSecondSquared:N2},"+$"Z:{result.New.Acceleration3D?.Z.MetersPerSecondSquared:N2} (m/s^2)]");Resolver.Log.Info($"Gyro: [X:{result.New.AngularVelocity3D?.X.DegreesPerSecond:N2},"+$"Y:{result.New.AngularVelocity3D?.Y.DegreesPerSecond:N2},"+$"Z:{result.New.AngularVelocity3D?.Z.DegreesPerSecond:N2} (degrees/s)]");Resolver.Log.Info($"Compass: [X:{result.New.MagneticField3D?.X.Tesla:N2},"+$"Y:{result.New.MagneticField3D?.Y.Tesla:N2},"+$"Z:{result.New.MagneticField3D?.Z.Tesla:N2} (Tesla)]");Resolver.Log.Info($"Gravity: [X:{result.New.GravityVector?.X.MetersPerSecondSquared:N2},"+$"Y:{result.New.GravityVector?.Y.MetersPerSecondSquared:N2},"+$"Z:{result.New.GravityVector?.Z.MetersPerSecondSquared:N2} (meters/s^2)]");Resolver.Log.Info($"Quaternion orientation: [X:{result.New.QuaternionOrientation?.X:N2},"+$"Y:{result.New.QuaternionOrientation?.Y:N2},"+$"Z:{result.New.QuaternionOrientation?.Z:N2}]");Resolver.Log.Info($"Euler orientation: [heading: {result.New.EulerOrientation?.Heading:N2},"+$"Roll: {result.New.EulerOrientation?.Roll:N2},"+$"Pitch: {result.New.EulerOrientation?.Pitch:N2}]");Resolver.Log.Info($"Linear Accel: [X:{result.New.LinearAcceleration?.X.MetersPerSecondSquared:N2},"+$"Y:{result.New.LinearAcceleration?.Y.MetersPerSecondSquared:N2},"+$"Z:{result.New.LinearAcceleration?.Z.MetersPerSecondSquared:N2} (meters/s^2)]");Resolver.Log.Info($"Temp: {result.New.Temperature?.Celsius:N2}C");};// Example that uses an IObservable subscription to only be notified when the filter is satisfiedvarconsumer=Bno055.CreateObserver(handler: result =>Resolver.Log.Info($"Observer: [x] changed by threshold; new [x]: X:{result.New.Acceleration3D?.X.MetersPerSecondSquared:N2}, old: X:{result.Old?.Acceleration3D?.X.MetersPerSecondSquared:N2}"),// only notify if there's a greater than 1 micro tesla on the Y axisfilter: result =>{if(result.Oldis{}old){return((result.New.Acceleration3D-old.Acceleration3D)?.Y>newAcceleration(1,AU.MetersPerSecondSquared));}returnfalse;});sensor.Subscribe(consumer);returnTask.CompletedTask;}publicasyncoverrideTaskRun(){awaitReadConditions();sensor.StartUpdating(TimeSpan.FromMilliseconds(500));}protectedasyncTaskReadConditions(){varresult=awaitsensor.Read();Resolver.Log.Info("Initial Readings:");Resolver.Log.Info($"Accel: [X:{result.Acceleration3D?.X.MetersPerSecondSquared:N2},"+$"Y:{result.Acceleration3D?.Y.MetersPerSecondSquared:N2},"+$"Z:{result.Acceleration3D?.Z.MetersPerSecondSquared:N2} (m/s^2)]");Resolver.Log.Info($"Gyro: [X:{result.AngularVelocity3D?.X.DegreesPerSecond:N2},"+$"Y:{result.AngularVelocity3D?.Y.DegreesPerSecond:N2},"+$"Z:{result.AngularVelocity3D?.Z.DegreesPerSecond:N2} (degrees/s)]");Resolver.Log.Info($"Compass: [X:{result.MagneticField3D?.X.Tesla:N2},"+$"Y:{result.MagneticField3D?.Y.Tesla:N2},"+$"Z:{result.MagneticField3D?.Z.Tesla:N2} (Tesla)]");Resolver.Log.Info($"Gravity: [X:{result.GravityVector?.X.MetersPerSecondSquared:N2},"+$"Y:{result.GravityVector?.Y.MetersPerSecondSquared:N2},"+$"Z:{result.GravityVector?.Z.MetersPerSecondSquared:N2} (meters/s^2)]");Resolver.Log.Info($"Quaternion orientation: [X:{result.QuaternionOrientation?.X:N2},"+$"Y:{result.QuaternionOrientation?.Y:N2},"+$"Z:{result.QuaternionOrientation?.Z:N2}]");Resolver.Log.Info($"Euler orientation: [heading: {result.EulerOrientation?.Heading:N2},"+$"Roll: {result.EulerOrientation?.Roll:N2},"+$"Pitch: {result.EulerOrientation?.Pitch:N2}]");Resolver.Log.Info($"Linear Accel: [X:{result.LinearAcceleration?.X.MetersPerSecondSquared:N2},"+$"Y:{result.LinearAcceleration?.Y.MetersPerSecondSquared:N2},"+$"Z:{result.LinearAcceleration?.Z.MetersPerSecondSquared:N2} (meters/s^2)]");Resolver.Log.Info($"Temp: {result.Temperature?.Celsius:N2}C");}