void Start()
{
if (!ovrIsInitialized)
{
DisplayedPosition = new Vector3(0.0f, 1.0f, 0.0f);
OVR_Initialize();
ovrIsInitialized = true;
//AHRS = new AHRS.MadgwickAHRS(1f / 75f, 0.1f);
AHRS = new AHRS.MadgwickAHRS(1f / 75f, 0.033f);
}
}
public Form1()
{
InitializeComponent();
glControl.InitializeContexts();
imu = new MadgwickAHRS(0.02F, 1.0F);
Q = new float[4];
Q[0] = 0;
Q[1] = 0;
Q[2] = 0;
Q[3] = 1;
M = new float[16];
M[0] = 1;
M[1] = 0;
M[2] = 0;
M[3] = 0;
M[4] = 0;
M[5] = 1;
M[6] = 0;
M[7] = 0;
M[8] = 0;
M[9] = 0;
M[10] = 1;
M[11] = 0;
M[12] = 0;
M[13] = 0;
M[14] = 0;
M[15] = 1;
x = 0;
_sampleTime = new long[100];
data_receiver.RunWorkerAsync();
Ax_series = new Series("Ax");
Ax_series.ChartType = SeriesChartType.Line;
Ay_series = new Series("Ay");
Ay_series.ChartType = SeriesChartType.Line;
Az_series = new Series("Az");
Az_series.ChartType = SeriesChartType.Line;
chartAcc.Series.Clear();
chartAcc.Series.Add(Ax_series);
chartAcc.Series.Add(Ay_series);
chartAcc.Series.Add(Az_series);
}
void Start()
{
style = new GUIStyle();
style.normal.textColor = Color.black;
int count = MoveManager.GetNumConnected();
for (int i = 0; i < count; i++)
{
MoveManager move = gameObject.AddComponent <MoveManager>();
if (!move.Init(i))
{
Destroy(move);
continue;
}
PSMoveConnectionType conn = move.ConnectionType;
if (conn == PSMoveConnectionType.Unknown || conn == PSMoveConnectionType.USB)
{
Destroy(move);
}
else
{
moves.Add(move);
move.OnControllerDisconnected += HandleControllerDisconnected;
move.SetLED(Color.cyan);
DisplayedPosition = new Vector3(0.0f, 1.0f, 0.0f);
TransformMatrix = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, Vector3.one);
// The proposed algorithm’s adjustable parameter, ß, was set to 0.033 for the MARG
// implementation and 0.041 for the IMU implementation.
//AHRS = new AHRS.MadgwickAHRS(1f / 75f, 0.1f);
AHRS = new AHRS.MadgwickAHRS(1f / 75f, 0.033f);
}
}
}
////// //////
// Start is called before the first frame update
void Start()
{
//Initialize
csvData = gameObject.AddComponent <CsvRead>();
Play_button = GameObject.Find("PlayButton");
//////Add new codes//////
RotationSpeed = GameObject.Find("RotationSpeed");
BoomerangStatus = GameObject.Find("BoomerangStatus");
Inclination = GameObject.Find("Inclination");
ThrowingSpeed = GameObject.Find("ThrowingSpeed");
frame = 0;
//read sensor data from csv file
csvData.csvRead(acc_dataset);
//Accelerometer unit is not mG
for (int i = 0; i < csvData.csvDatas.Count; i++)
{
//Debug.Log("csv data[0]: " + csvData.csvDatas[i][0]);
//Debug.Log("[1]: "+csvData.csvDatas[i][1]);
//Debug.Log("[2]: " + csvData.csvDatas[i][2]);
xAcc.Add(double.Parse(csvData.csvDatas[i][0]));
yAcc.Add(double.Parse(csvData.csvDatas[i][1]));
zAcc.Add(double.Parse(csvData.csvDatas[i][2]));
}
csvData.clearData();
csvData.csvRead(gyro_dataset);
for (int i = 0; i < csvData.csvDatas.Count; i++)
{
//Debug.Log("csv data[0]: " + csvData.csvDatas[i][0]);
//Debug.Log("[1]: "+csvData.csvDatas[i][1]);
//Debug.Log("[2]: " + csvData.csvDatas[i][2]);
xGyro.Add(double.Parse(csvData.csvDatas[i][0]));
yGyro.Add(double.Parse(csvData.csvDatas[i][1]));
zGyro.Add(double.Parse(csvData.csvDatas[i][2]));
}
csvData.clearData();
csvData.csvRead(mag_dataset);
for (int i = 0; i < csvData.csvDatas.Count; i++)
{
//Debug.Log("csv data[0]: " + csvData.csvDatas[i][0]);
//Debug.Log("[1]: "+csvData.csvDatas[i][1]);
//Debug.Log("[2]: " + csvData.csvDatas[i][2]);
xMag.Add(double.Parse(csvData.csvDatas[i][0]));
yMag.Add(double.Parse(csvData.csvDatas[i][1]));
zMag.Add(double.Parse(csvData.csvDatas[i][2]));
}
csvData.clearData();
csvData.csvRead(euler_dataset);
for (int i = 0; i < csvData.csvDatas.Count; i++)
{
//Debug.Log("csv data[0]: " + csvData.csvDatas[i][0]);
//Debug.Log("[1]: "+csvData.csvDatas[i][1]);
//Debug.Log("[2]: " + csvData.csvDatas[i][2]);
phi.Add(double.Parse(csvData.csvDatas[i][0]));
theta.Add(double.Parse(csvData.csvDatas[i][1]));
psi.Add(double.Parse(csvData.csvDatas[i][2]));
}
AHRS = new AHRS.MadgwickAHRS(1f / 60f, 0.1f);
///////////////
}
// Start is called before the first frame update
void Start()
{
//Initialize
csvData = gameObject.AddComponent <CsvRead>();
Play_button = GameObject.Find("PlayButton");
//////Add new codes//////
RotationSpeed = GameObject.Find("RotationSpeed");
BoomerangStatus = GameObject.Find("BoomerangStatus");
Inclination = GameObject.Find("Inclination");
ThrowingSpeed = GameObject.Find("ThrowingSpeed");
frame = 0;
//read sensor data from csv file
csvData.csvRead(acc_dataset);
//Accelerometer unit is not mG
for (int i = 0; i < csvData.csvDatas.Count; i++)
{
//Debug.Log("csv data[0]: " + csvData.csvDatas[i][0]);
//Debug.Log("[1]: "+csvData.csvDatas[i][1]);
//Debug.Log("[2]: " + csvData.csvDatas[i][2]);
xAcc.Add(double.Parse(csvData.csvDatas[i][0]));
yAcc.Add(double.Parse(csvData.csvDatas[i][1]));
zAcc.Add(double.Parse(csvData.csvDatas[i][2]));
}
csvData.clearData();
csvData.csvRead(gyro_dataset);
for (int i = 0; i < csvData.csvDatas.Count; i++)
{
//Debug.Log("csv data[0]: " + csvData.csvDatas[i][0]);
//Debug.Log("[1]: "+csvData.csvDatas[i][1]);
//Debug.Log("[2]: " + csvData.csvDatas[i][2]);
xGyro.Add(double.Parse(csvData.csvDatas[i][0]));
yGyro.Add(double.Parse(csvData.csvDatas[i][1]));
zGyro.Add(double.Parse(csvData.csvDatas[i][2]));
}
csvData.clearData();
csvData.csvRead(mag_dataset);
for (int i = 0; i < csvData.csvDatas.Count; i++)
{
//Debug.Log("csv data[0]: " + csvData.csvDatas[i][0]);
//Debug.Log("[1]: "+csvData.csvDatas[i][1]);
//Debug.Log("[2]: " + csvData.csvDatas[i][2]);
xMag.Add(double.Parse(csvData.csvDatas[i][0]));
yMag.Add(double.Parse(csvData.csvDatas[i][1]));
zMag.Add(double.Parse(csvData.csvDatas[i][2]));
}
csvData.clearData();
csvData.csvRead(euler_dataset);
for (int i = 0; i < csvData.csvDatas.Count; i++)
{
//Debug.Log("csv data[0]: " + csvData.csvDatas[i][0]);
//Debug.Log("[1]: "+csvData.csvDatas[i][1]);
//Debug.Log("[2]: " + csvData.csvDatas[i][2]);
phi.Add(double.Parse(csvData.csvDatas[i][0]));
theta.Add(double.Parse(csvData.csvDatas[i][1]));
psi.Add(double.Parse(csvData.csvDatas[i][2]));
}
AHRS = new AHRS.MadgwickAHRS(1f / 60f, 0.1f);
Text = GameObject.Find("debugText");
message = GameObject.Find("message").GetComponent <InputField>();
//connect BLE
BLE = new AndroidJavaObject("fr.boomerang.takumi.ble_module.BLE", this.gameObject.name, "received");
Text.GetComponent <Text>().text = "Create BLE AndroidJavaObject";
///////////////
}