// Start is called before the first frame update
void Start()
{
// connection = new UdpConnection();
// connection.StartConnection(sendIp, sendPort, receivePort);
Hand_demo.SetActive(!Hand_demo.activeSelf);
initializeJoints();
// create OpenZen
OpenZen.ZenInit(mZenHandle);
// Hint: to get the io type and identifer for all connected sensor,
// you cant start the DiscoverSensorScene. The information of all
// found sensors is printed in the debug console of Unity after
// the search is complete.
// print("Trying to connect to OpenZen Sensor on IO " + OpenZenIoType +
// " with sensor name " + OpenZenIdentifier);
var sensorInitError = OpenZen.ZenObtainSensorByName(mZenHandle,
OpenZenIoType,
OpenZenIdentifier,
0,
mSensorHandle);
if (sensorInitError != ZenSensorInitError.ZenSensorInitError_None)
{
print("Error while connecting to sensor 29.");
}
else
{
ZenComponentHandle_t mComponent = new ZenComponentHandle_t();
OpenZen.ZenSensorComponentsByNumber(mZenHandle, mSensorHandle, OpenZen.g_zenSensorType_Imu, 0, mComponent);
// enable sensor streaming, normally on by default anyways
OpenZen.ZenSensorComponentSetBoolProperty(mZenHandle, mSensorHandle, mComponent,
(int)EZenImuProperty.ZenImuProperty_StreamData, true);
// set offset mode to heading
OpenZen.ZenSensorComponentSetInt32Property(mZenHandle, mSensorHandle, mComponent,
(int)EZenImuProperty.ZenImuProperty_OrientationOffsetMode, 1);
// set the sampling rate to 100 Hz
OpenZen.ZenSensorComponentSetInt32Property(mZenHandle, mSensorHandle, mComponent,
(int)EZenImuProperty.ZenImuProperty_SamplingRate, 100);
// filter mode using accelerometer & gyroscope & magnetometer
OpenZen.ZenSensorComponentSetInt32Property(mZenHandle, mSensorHandle, mComponent,
(int)EZenImuProperty.ZenImuProperty_FilterMode, 1);
// Ensure the Orientation data is streamed out
OpenZen.ZenSensorComponentSetBoolProperty(mZenHandle, mSensorHandle, mComponent,
(int)EZenImuProperty.ZenImuProperty_OutputQuat, true);
print("Sensor 29 configuration complete");
}
// print("Trying to connect to OpenZen Sensor on IO " + OpenZenIoType +
// " with sensor name " + OpenZenIdentifier2);
var sensorInitError2 = OpenZen.ZenObtainSensorByName(mZenHandle,
OpenZenIoType,
OpenZenIdentifier2,
0,
mSensorHandle2);
if (sensorInitError2 != ZenSensorInitError.ZenSensorInitError_None)
{
print("Error while connecting to sensor 98.");
}
else
{
ZenComponentHandle_t mComponent2 = new ZenComponentHandle_t();
OpenZen.ZenSensorComponentsByNumber(mZenHandle, mSensorHandle2, OpenZen.g_zenSensorType_Imu, 0, mComponent2);
// enable sensor streaming, normally on by default anyways
OpenZen.ZenSensorComponentSetBoolProperty(mZenHandle, mSensorHandle2, mComponent2,
(int)EZenImuProperty.ZenImuProperty_StreamData, true);
// set offset mode to heading
OpenZen.ZenSensorComponentSetInt32Property(mZenHandle, mSensorHandle2, mComponent2,
(int)EZenImuProperty.ZenImuProperty_OrientationOffsetMode, 1);
// set the sampling rate to 100 Hz
OpenZen.ZenSensorComponentSetInt32Property(mZenHandle, mSensorHandle2, mComponent2,
(int)EZenImuProperty.ZenImuProperty_SamplingRate, 100);
// filter mode using accelerometer & gyroscope & magnetometer
OpenZen.ZenSensorComponentSetInt32Property(mZenHandle, mSensorHandle2, mComponent2,
(int)EZenImuProperty.ZenImuProperty_FilterMode, 1);
// Ensure the Orientation data is streamed out
OpenZen.ZenSensorComponentSetBoolProperty(mZenHandle, mSensorHandle2, mComponent2,
(int)EZenImuProperty.ZenImuProperty_OutputQuat, true);
print("Sensor 98 configuration complete");
}
var sensorInitError3 = OpenZen.ZenObtainSensorByName(mZenHandle,
OpenZenIoType2.ToString(),
OpenZenIdentifier3,
0,
mSensorHandle3);
if (sensorInitError3 != ZenSensorInitError.ZenSensorInitError_None)
{
print("Error while connecting to sensor USB.");
}
else
{
ZenComponentHandle_t mComponent3 = new ZenComponentHandle_t();
OpenZen.ZenSensorComponentsByNumber(mZenHandle, mSensorHandle3, OpenZen.g_zenSensorType_Imu, 0, mComponent3);
// enable sensor streaming, normally on by default anyways
OpenZen.ZenSensorComponentSetBoolProperty(mZenHandle, mSensorHandle3, mComponent3,
(int)EZenImuProperty.ZenImuProperty_StreamData, true);
// set offset mode to heading
OpenZen.ZenSensorComponentSetInt32Property(mZenHandle, mSensorHandle3, mComponent3,
(int)EZenImuProperty.ZenImuProperty_OrientationOffsetMode, 1);
// set the sampling rate to 100 Hz
OpenZen.ZenSensorComponentSetInt32Property(mZenHandle, mSensorHandle3, mComponent3,
(int)EZenImuProperty.ZenImuProperty_SamplingRate, 100);
// filter mode using accelerometer & gyroscope & magnetometer
OpenZen.ZenSensorComponentSetInt32Property(mZenHandle, mSensorHandle3, mComponent3,
(int)EZenImuProperty.ZenImuProperty_FilterMode, 1);
// Ensure the Orientation data is streamed out
OpenZen.ZenSensorComponentSetBoolProperty(mZenHandle, mSensorHandle3, mComponent3,
(int)EZenImuProperty.ZenImuProperty_OutputQuat, true);
print("Sensor USB configuration complete");
}
// Gripper calibration here:
Debug.Log("Begin Gripper Calibration");
}
