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Brain_Arduino
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Debug Axis

main
Yogi 2024-12-04 21:05:21 +08:00
parent 246882573f
commit 4609db3913
1 changed files with 19 additions and 1 deletions
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20
Assets/Scripts/GameManager.cs
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@ -18,6 +18,7 @@ public class GameManager : MonoBehaviour
public KeyCode playMP4KeyCode = KeyCode.Space; public KeyCode playMP4KeyCode = KeyCode.Space;
private bool isGameStart = false; private bool isGameStart = false;
public AxisArr mapAxis = AxisArr.XZY;
public void Awake() public void Awake()
{ {
@ -110,7 +111,18 @@ public class GameManager : MonoBehaviour
float alpha = 0.98f; // 互补滤波的权重 float alpha = 0.98f; // 互补滤波的权重
float filteredPitch = alpha * (angleX) + (1 - alpha) * pitch; // 过滤后的俯仰角 float filteredPitch = alpha * (angleX) + (1 - alpha) * pitch; // 过滤后的俯仰角
float filteredRoll = alpha * (angleY) + (1 - alpha) * roll; // 过滤后的滚转角 float filteredRoll = alpha * (angleY) + (1 - alpha) * roll; // 过滤后的滚转角
brainTrans.rotation = Quaternion.Euler(new Vector3(filteredRoll, filteredPitch, angleZ));
switch (mapAxis)
{
case AxisArr.XYZ:
brainTrans.rotation = Quaternion.Euler(new Vector3(filteredRoll, filteredPitch, angleZ));
break;
case AxisArr.XZY:
brainTrans.rotation = Quaternion.Euler(new Vector3(filteredRoll, filteredPitch, angleZ));
break;
default:
break;
}
} }
private Quaternion CalculateRotation(Quaternion rotation, float ax, float ay, float az, float gx, float gy, float gz) private Quaternion CalculateRotation(Quaternion rotation, float ax, float ay, float az, float gx, float gy, float gz)
@ -218,3 +230,9 @@ public class GameManager : MonoBehaviour
private string sendMsgDataArr = "0.03,0.00,0.83,-5.42,-3.05,-2.17\r\n0.07,-0.03,0.80,-4.53,-1.27,1.87\r\n0.04,-0.02,0.82,-7.34,-0.99,-1.26\r\n0.04,-0.02,0.82,-1.22,-3.95,3.66\r\n0.03,0.02,0.81,-6.32,-4.70,-3.34\r\n0.05,-0.03,0.82,-6.53,-2.40,-2.28\r\n0.05,-0.00,0.82,-6.65,-3.69,6.26\r\n0.04,-0.01,0.83,-4.22,-4.48,4.00\r\n0.07,-0.03,0.81,-5.82,-2.50,-5.01\r\n0.05,-0.01,0.82,-4.89,-2.97,-1.27\r\n0.04,0.01,0.82,-6.31,-2.71,0.60\r\n0.07,-0.02,0.81,-1.50,-1.15,-7.15\r\n0.04,0.01,0.82,-7.13,3.05,-15.97\r\n0.06,-0.03,0.81,-3.79,1.00,-45.29\r\n-0.03,-0.06,0.87,-6.42,0.47,-123.16\r\n-0.01,0.02,0.78,-10.50,4.44,-90.85\r\n0.06,-0.01,0.81,-6.31,7.85,-80.14\r\n0.05,-0.04,0.82,-14.08,-0.04,-110.42\r\n-0.08,-0.09,0.85,-11.08,-3.77,-86.89\r\n0.02,-0.01,0.82,-9.47,3.86,-72.44\r\n0.03,-0.05,0.82,-12.89,6.39,-133.51\r\n-0.00,-0.10,0.83,-27.43,2.75,-189.82\r\n0.03,-0.09,0.82,-14.63,7.84,-137.10\r\n0.09,-0.10,0.79,-19.21,9.53,-175.67\r\n0.02,-0.14,0.81,-13.94,3.36,-197.25\r\n0.03,-0.10,0.79,-23.36,2.68,-112.65\r\n0.03,-0.11,0.86,-9.88,12.50,-140.66\r\n0.01,-0.22,0.81,-12.49,12.49,-125.18\r\n0.09,-0.06,0.84,-9.07,11.02,-110.91\r\n-0.24,-0.09,0.77,-15.20,43.73,-75.92\r\n0.13,-0.10,0.80,-10.72,17.12,-129.89\r\n0.05,-0.14,0.80,-11.35,4.04,6.60\r\n0.03,-0.17,0.82,-5.33,-3.23,-9.43\r\n0.01,-0.18,0.79,-3.86,-2.73,0.50\r\n0.06,-0.12,0.85,-5.76,-0.42,-9.27\r\n0.07,-0.15,0.81,-4.90,-6.82,2.41\r\n0.04,-0.18,0.80,-3.12,-0.34,19.65\r\n0.06,-0.14,0.82,-4.18,-2.79,-7.72\r\n0.05,-0.14,0.80,-6.60,-2.23,-0.33"; private string sendMsgDataArr = "0.03,0.00,0.83,-5.42,-3.05,-2.17\r\n0.07,-0.03,0.80,-4.53,-1.27,1.87\r\n0.04,-0.02,0.82,-7.34,-0.99,-1.26\r\n0.04,-0.02,0.82,-1.22,-3.95,3.66\r\n0.03,0.02,0.81,-6.32,-4.70,-3.34\r\n0.05,-0.03,0.82,-6.53,-2.40,-2.28\r\n0.05,-0.00,0.82,-6.65,-3.69,6.26\r\n0.04,-0.01,0.83,-4.22,-4.48,4.00\r\n0.07,-0.03,0.81,-5.82,-2.50,-5.01\r\n0.05,-0.01,0.82,-4.89,-2.97,-1.27\r\n0.04,0.01,0.82,-6.31,-2.71,0.60\r\n0.07,-0.02,0.81,-1.50,-1.15,-7.15\r\n0.04,0.01,0.82,-7.13,3.05,-15.97\r\n0.06,-0.03,0.81,-3.79,1.00,-45.29\r\n-0.03,-0.06,0.87,-6.42,0.47,-123.16\r\n-0.01,0.02,0.78,-10.50,4.44,-90.85\r\n0.06,-0.01,0.81,-6.31,7.85,-80.14\r\n0.05,-0.04,0.82,-14.08,-0.04,-110.42\r\n-0.08,-0.09,0.85,-11.08,-3.77,-86.89\r\n0.02,-0.01,0.82,-9.47,3.86,-72.44\r\n0.03,-0.05,0.82,-12.89,6.39,-133.51\r\n-0.00,-0.10,0.83,-27.43,2.75,-189.82\r\n0.03,-0.09,0.82,-14.63,7.84,-137.10\r\n0.09,-0.10,0.79,-19.21,9.53,-175.67\r\n0.02,-0.14,0.81,-13.94,3.36,-197.25\r\n0.03,-0.10,0.79,-23.36,2.68,-112.65\r\n0.03,-0.11,0.86,-9.88,12.50,-140.66\r\n0.01,-0.22,0.81,-12.49,12.49,-125.18\r\n0.09,-0.06,0.84,-9.07,11.02,-110.91\r\n-0.24,-0.09,0.77,-15.20,43.73,-75.92\r\n0.13,-0.10,0.80,-10.72,17.12,-129.89\r\n0.05,-0.14,0.80,-11.35,4.04,6.60\r\n0.03,-0.17,0.82,-5.33,-3.23,-9.43\r\n0.01,-0.18,0.79,-3.86,-2.73,0.50\r\n0.06,-0.12,0.85,-5.76,-0.42,-9.27\r\n0.07,-0.15,0.81,-4.90,-6.82,2.41\r\n0.04,-0.18,0.80,-3.12,-0.34,19.65\r\n0.06,-0.14,0.82,-4.18,-2.79,-7.72\r\n0.05,-0.14,0.80,-6.60,-2.23,-0.33";
} }
public enum AxisArr
{
XYZ,
XZY,
}