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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;
private bool isGameStart = false;
public AxisArr mapAxis = AxisArr.XZY;
public void Awake()
{
@ -110,7 +111,18 @@ public class GameManager : MonoBehaviour
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 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)
@ -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";
}
public enum AxisArr
{
XYZ,
XZY,
}