//------------------------------------------------------------------------------------------------------------------------------------
// Backwards Compatibility Methods
#region BackwardsComp
/// <summary> Manually assign IMU Correction for old firmware versions. </summary>
private void SetupWrist()
{
if (this.glove != null && this.glove.gloveData.dataLoaded)
{
string ID = this.gloveData.deviceID;
if (ID.Contains("220102"))
{
this.glove.gloveData.wrist.SetHardwareOrientation(Quaternions.FromEuler(Mathf.PI, 0, Mathf.PI / 2.0f)); //correction for glove 1
SenseGlove_Debugger.Log("Red Glove Compensation");
}
string[] gloveVersion = this.gloveData.firmwareVersion.Split('.');
if (gloveVersion[0][0] == 'v')
{
gloveVersion[0] = gloveVersion[0].Substring(1);
} //if there is a v in front of it, remove this.
int mainVersion = int.Parse(gloveVersion[0]);
int subVersion = int.Parse(gloveVersion[1]);
if (mainVersion <= 2 && subVersion <= 19)
{
if (ID.Contains("120206"))
{
this.glove.gloveData.wrist.SetHardwareOrientation(Quaternions.FromEuler(Mathf.PI / 2.0f, 0, Mathf.PI)); //correction for glove 1
SenseGlove_Debugger.Log("Firmware Version v2.19 or earlier. Adding Hardware Compensation");
}
else if (ID.Contains("120101"))
{
this.glove.gloveData.wrist.SetHardwareOrientation(Quaternions.FromEuler(Mathf.PI, 0, 0)); //correction for glove 1
SenseGlove_Debugger.Log("Firmware Version v2.19 or earlier. Adding Hardware Compensation");
}
else if (ID.Contains("120203"))
{
this.glove.gloveData.wrist.SetHardwareOrientation(Quaternions.FromEuler(0, 0, Mathf.PI / 2.0f)); //correction?
SenseGlove_Debugger.Log("Firmware Version v2.19 or earlier. Adding Hardware Compensation");
}
else if (ID.Contains("120307") || ID.Contains("120304") || ID.Contains("120310") || ID.Contains("120309") || ID.Contains("120311") || ID.Contains("120312"))
{
this.glove.gloveData.wrist.SetHardwareOrientation(Quaternions.FromEuler(0, 0, Mathf.PI)); //correction for glove 7 & 4?
SenseGlove_Debugger.Log("Firmware Version v2.19 or earlier. Adding Hardware Compensation");
}
}
}
}
