public static SixAxisCalibration ReadSixAxisCalibration(Report report)
{
report.Seek(20);
var cal = new SixAxisCalibration();
cal.accOrigin = new Vector3(report.ReadInt16(), report.ReadInt16(), report.ReadInt16());
cal.accCoeff = new Vector3(report.ReadInt16(), report.ReadInt16(), report.ReadInt16());
cal.gyroOrigin = new Vector3(report.ReadInt16(), report.ReadInt16(), report.ReadInt16());
cal.gyroCoeff = new Vector3(report.ReadInt16(), report.ReadInt16(), report.ReadInt16());
return(cal);
}
private void GetCalibrationData()
{
try
{
// Get stick's calibration infomation
var report = CommandHelper.GetStickCalibration(this.Type, this.handle);
this.stickCal = SPIReportReader.ReadStickCalibration(report, this.Type);
Debug.Log(string.Format(
"Stick calibration data: xMax:{0} xCenter:{1} xMin:{2} yMax:{3} yCenter:{4} yMin:{5} ",
stickCal.xMax, stickCal.xCenter, stickCal.xMin, stickCal.yMax, stickCal.yCenter, stickCal.yMin));
}
catch (Exception ex)
{
SetDefaultStickCalibratrion();
}
try
{
// Get stick's parameter infomation, mainly deadzone
var report = CommandHelper.GetStickParameters(Type, handle);
this.stickPara = SPIReportReader.ReadStickParameter(report, Type);
this.deadZone = stickPara.deadzone;
Debug.Log(string.Format("Deadzone: {0}", deadZone));
}
catch (Exception ex)
{
SetDefaultStickParameter();
Debug.LogError(ex);
}
try
{
// Get 6-axis sensor's calibration infomation
var report = CommandHelper.GetSixAxisCalibration(handle);
sixAxisCal = SPIReportReader.ReadSixAxisCalibration(report);
for (int i = 0; i < 3; i++)
{
accCalCoeff[i] = (float)(1.0 / (sixAxisCal.accCoeff[i] - sixAxisCal.accOrigin[i])) * 4.0f * 9.8f;
gyroCalCoeff[i] = (float)((sixAxisCal.gyroCoeff[i] / 10) / (sixAxisCal.gyroCoeff[i] - sixAxisCal.gyroOrigin[i]));
}
//Debug.Log(string.Format("6-Axis calibration data: accOrigin:{0} accCoeff:{1} gyroOrigin:{2} gyroCoeff:{3} ",
//sixAxisCal.accOrigin, sixAxisCal.accCoeff, sixAxisCal.gyroOrigin, sixAxisCal.gyroCoeff));
}
catch (Exception ex)
{
SetDefaultSixAxisCalibratrion();
Debug.LogError(ex);
}
}
private void SetDefaultSixAxisCalibratrion()
{
this.sixAxisCal = new SixAxisCalibration();
}
