public void GyroSensorDara(Vector3 gyroData)
{
float gyro_scale_val = 0;
float cur_time = Time.time;
gx = gyroData.x;
gy = gyroData.y;
gz = gyroData.z;
MWData gyroCalibratedData = new MWData();
if (gyroDataCounter == 0)
{
gyro_scale_val = 0;
cur_time = 0;
gyroCalibratedData.GS_x = 0;
gyroCalibratedData.GO_x = 0;
lastGO = gyroCalibratedData.GO_x;
gyroCalibratedData.GT_x = 0;
lastGT = gyroCalibratedData.GT_x;
last_time_gyro = Time.time;
}
if (gyroDataCounter > 0)
{
cur_time = Time.time;
gyro_scale_val = (cur_time - last_time_gyro) * 1.0f;
last_time_gyro = cur_time;
gyroCalibratedData.GTotal_x = lastGTotal + gyroData.x;
lastGTotal = gyroCalibratedData.GTotal_x;
gyroCalibratedData.GS_x = (gyroData.x); //* gyro_scale_val;
angle = lastGO + 360 * gyroCalibratedData.GS_x / 35200;
if (angle > 360)
{
angle -= 360;
}
if (angle < 0)
{
angle += 360;
}
gyroCalibratedData.GO_x = angle;
lastGO = gyroCalibratedData.GO_x;
gyroCalibratedData.GT_x = lastGT + gyroCalibratedData.GS_x;
lastGT = gyroCalibratedData.GT_x;
}
//if (gyroDataCounter == 100) {
// gyro_x_offset = gyroCalibratedData.GTotal_x / 100;
//}
float orientAngle;
if ((gyroCalibratedData.GO_x > 335 && gyroCalibratedData.GO_x < 361) || (gyroCalibratedData.GO_x > -1 && gyroCalibratedData.GO_x < 16))
{
orientAngle = 12f;
}
else if (gyroCalibratedData.GO_x > 15 && gyroCalibratedData.GO_x < 61)
{
orientAngle = 1.5f;
}
else if (gyroCalibratedData.GO_x > 60 && gyroCalibratedData.GO_x < 104)
{
orientAngle = 3f;
}
else if (gyroCalibratedData.GO_x > 105 && gyroCalibratedData.GO_x < 151)
{
orientAngle = 4.5f;
}
else if (gyroCalibratedData.GO_x > 150 && gyroCalibratedData.GO_x < 196)
{
orientAngle = 6f;
}
else if (gyroCalibratedData.GO_x > 195 && gyroCalibratedData.GO_x < 241)
{
orientAngle = 7.5f;
}
else if (gyroCalibratedData.GO_x > 240 && gyroCalibratedData.GO_x < 286)
{
orientAngle = 9f;
}
else if (gyroCalibratedData.GO_x > 285 && gyroCalibratedData.GO_x < 336)
{
orientAngle = 10.5f;
}
else
{
orientAngle = 0f;
}
if (shouldLogData)
{
GyroHistoricalData.Add(gyroCalibratedData);
string gyroLogData = "Unity:: Device Serial : " + deviceSerialNo + " -- " + gyroDataCounter + "," + cur_time + "," + gyro_scale_val + "," + gyroData.x + "," + gyroData.y + "," + gyroData.z + "," + gyroCalibratedData.GS_x + "," + gyroCalibratedData.GO_x + "," + gyroCalibratedData.GT_x + "," + orientAngle;
linkManager.UpdateGyroLogNotification(gyroLogData);
Debug.Log("Gyro Data send ");
gyroDataCounter++;
}
}
