Mindsensors' GlideWheel sensor (and possibly other sensors from MS) doesn't work

[kirscfil]

I implemented class for data collection from Mindsensors' GlideWheel, datasheet is here.

However, the ReadRegister(bool register, int length) is returns byte[] which consiststs of first byte containing register number equivalent to the first argument of ReadRegister() and the rest of bytes contain zeroes.

I suppose this is a monoev3 related bug since:

• The physical sensor works in EV3 graphical SDK as expected
• Other manufacturers' sensors work on tested EV3 as expected (tested with Hi-Technic Gyro and Lego Color sensor)
• Other users are having this issue as well with other Mindsensors' sensors

Code including Main() for testing purposes follows:

using System;
using MonoBrickFirmware;
using MonoBrickFirmware.Display.Dialogs;
using MonoBrickFirmware.Display;
using MonoBrickFirmware.Movement;
using MonoBrickFirmware.Sensors;
using System.Threading;
using System.Collections;
using MonoBrickFirmware.UserInput;

namespace MonoBrickHelloWorld
{
    class MainClass
    {
        public static void Main (string[] args)
        {
            EventWaitHandle stopped = new ManualResetEvent (false);
            MindsensorsAngleSensor NewSensor = new MindsensorsAngleSensor(SensorPort.In1);
            HiTecGyroSensor gyro = new HiTecGyroSensor(SensorPort.In2);
            NewSensor.ResetAngle();
            ButtonEvents buts = new ButtonEvents ();

            buts.EscapePressed += () => { 
                stopped.Set ();
            };

            buts.EnterPressed += () => {
                LcdConsole.WriteLine(Convert.ToString(NewSensor.ReadAngle()));
                LcdConsole.WriteLine(Convert.ToString(gyro.ReadAngularAcceleration()));
            };

            stopped.WaitOne ();
        }
    }

    public class MindsensorsAngleSensor : I2CSensor
    {
        internal enum GlideWheelRegister : byte
        {
            ResetCommand = (byte)'r', Command = 0x41, Angle = 0x42, RAW = 0x46, RevolutionsPerMinute = 0x4A
        };

        public MindsensorsAngleSensor (SensorPort Port) : base (Port, (byte)0x30, I2CMode.LowSpeed9V)
        {
            base.Initialise();
        }

        private static int byte4toInt(byte[] b){
            return (int)b[0] + ((int)b[1] << 8) + ((int)b[2] << 16) + ((int)b[3] << 32); 
        }

        public void ResetAngle()
        {
            byte[] BytesToWrite = {(byte)0};
            BytesToWrite[0] = (byte)GlideWheelRegister.ResetCommand;
            WriteRegister((byte)GlideWheelRegister.Command, BytesToWrite);
            return;
        }

        public int ReadAngle ()
        {
            return byte4toInt(ReadRegister((byte)GlideWheelRegister.Angle, 4));
        }

        public int ReadRAW ()
        {
            return byte4toInt(ReadRegister((byte)GlideWheelRegister.RAW, 4));
        }

        public override string ReadAsString()
        {
            return("Angle: " + Convert.ToString(ReadAngle()) + " RAW: " + Convert.ToString(ReadRAW()));
        }

        public override string GetSensorName()
        {
            return "Mindsensors GlideWheel";
        }

        public override int NumberOfModes()
        {
            return 1;
        }

        public override void SelectNextMode()
        {
            return;
        }

        public override void SelectPreviousMode()
        {
            return;
        }

        public override string SelectedMode()
        {
            return ("Mode 1");
        }
    }
}