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Brain_Arduino
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update

main
Yogi 2024-12-01 17:25:54 +08:00
parent a2d10f9dd7
commit 60d86a1dfc
2 changed files with 53 additions and 27 deletions
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14
Assets/Scenes/MainScene.unity
View File

@ -674,7 +674,7 @@ PrefabInstance:
m_Modifications:
- target: {fileID: -8679921383154817045, guid: 89b9ffd9832690d4ba423ff477aa1d06, type: 3}
propertyPath: m_LocalPosition.x
value: 0.57
value: 0.07
objectReference: {fileID: 0}
- target: {fileID: -8679921383154817045, guid: 89b9ffd9832690d4ba423ff477aa1d06, type: 3}
propertyPath: m_LocalPosition.y
@ -682,23 +682,23 @@ PrefabInstance:
objectReference: {fileID: 0}
- target: {fileID: -8679921383154817045, guid: 89b9ffd9832690d4ba423ff477aa1d06, type: 3}
propertyPath: m_LocalPosition.z
value: 0
value: -0.04
objectReference: {fileID: 0}
- target: {fileID: -8679921383154817045, guid: 89b9ffd9832690d4ba423ff477aa1d06, type: 3}
propertyPath: m_LocalRotation.w
value: 1
value: 0.7071068
objectReference: {fileID: 0}
- target: {fileID: -8679921383154817045, guid: 89b9ffd9832690d4ba423ff477aa1d06, type: 3}
propertyPath: m_LocalRotation.x
value: -0
value: 0
objectReference: {fileID: 0}
- target: {fileID: -8679921383154817045, guid: 89b9ffd9832690d4ba423ff477aa1d06, type: 3}
propertyPath: m_LocalRotation.y
value: -0
value: 0.7071068
objectReference: {fileID: 0}
- target: {fileID: -8679921383154817045, guid: 89b9ffd9832690d4ba423ff477aa1d06, type: 3}
propertyPath: m_LocalRotation.z
value: -0
value: 0
objectReference: {fileID: 0}
- target: {fileID: -8679921383154817045, guid: 89b9ffd9832690d4ba423ff477aa1d06, type: 3}
propertyPath: m_LocalEulerAnglesHint.x
@ -706,7 +706,7 @@ PrefabInstance:
objectReference: {fileID: 0}
- target: {fileID: -8679921383154817045, guid: 89b9ffd9832690d4ba423ff477aa1d06, type: 3}
propertyPath: m_LocalEulerAnglesHint.y
value: 0
value: 90
objectReference: {fileID: 0}
- target: {fileID: -8679921383154817045, guid: 89b9ffd9832690d4ba423ff477aa1d06, type: 3}
propertyPath: m_LocalEulerAnglesHint.z

66
Assets/Scripts/GameManager.cs
View File

@ -1,4 +1,5 @@
using System.Text;
using System.Threading.Tasks;
using UnityEngine;
public class GameManager : MonoBehaviour
@ -26,6 +27,7 @@ public class GameManager : MonoBehaviour
}
private void OnReceivedMessage(string msgStr)
{
if (msgStr == startMsg)
{
print($"开始游戏");
@ -53,28 +55,11 @@ public class GameManager : MonoBehaviour
var gz = float.Parse(arr[5]);
print($"获得加速度:{ax},{ay},{az}");
print($"获得角速度:{gx},{gy},{gz}");
//this.GetComponent<Rigidbody>().angularVelocity
if (isCanControlModel)
{
// 时间间隔
float dt = 0.01f;
// 通过加速度计算姿态（俯仰角和滚转角）
float roll = Mathf.Atan2(ay, az) * Mathf.Rad2Deg; // 滚转角
float pitch = Mathf.Atan2(-ax, Mathf.Sqrt(ay * ay + az * az)) * Mathf.Rad2Deg; // 俯仰角
// 积分得到角度变化
angleX = gx * dt; // 绕X轴旋转
angleY = gy * dt; // 绕Y轴旋转
angleZ = gz * dt; // 绕Z轴旋转
// 使用互补滤波来平滑姿态估计
// 这里的系数决定了加速度和陀螺仪的权重，通常设置为0.98
float alpha = 0.98f; // 互补滤波的权重
float filteredPitch = alpha * (angleX) + (1 - alpha) * pitch; // 过滤后的俯仰角
float filteredRoll = alpha * (angleY) + (1 - alpha) * roll; // 过滤后的滚转角
ControlModelRotate(new Vector3(filteredRoll, filteredPitch, angleZ)); // 传入过滤后的值
//ControlModelRotate(new Vector3(filteredRoll, filteredPitch, angleZ)); // 传入过滤后的值
brainTrans.rotation = CalculateRotation(brainTrans.rotation, ax, ay, az, gx, gy, gz);
}
}
}
@ -92,7 +77,26 @@ public class GameManager : MonoBehaviour
{
brainTrans.rotation = Quaternion.Euler(angleModify);
}
private Quaternion CalculateRotation(Quaternion rotation, float ax, float ay, float az, float gx, float gy, float gz)
{
// 假设你已经有初始四元数
Quaternion q = rotation;
// 将角速度转换为四元数
Quaternion gyroQuat = new Quaternion(0, gx * dt, gy * dt, gz * dt);
// 更新四元数：四元数乘积
q = q * gyroQuat;
// 归一化四元数，防止数值误差积累
q.Normalize();
// 使用加速度计数据修正四元数
Quaternion accelQuat = new Quaternion(ax, ay, az, 0);
q = Quaternion.Slerp(q, accelQuat, 0.01f); // 使用球形插值修正四元数
// 最终得到物体的旋转
return q;
}
private StringBuilder sb;
private void Update()
@ -128,6 +132,28 @@ public class GameManager : MonoBehaviour
Debug.LogWarning($"录制结束! 参数:\n{sb}");
sb = null;
}
if (Input.GetKeyDown(KeyCode.C))
{
print(sendMsgDataArr);
SendAsync();
}
}
async void SendAsync()
{
var rows = sendMsgDataArr.Split("\r\n");
int index = 0;
while (index < rows.Length)
{
var row = rows[index];
OnReceivedMessage(row);
await Task.Delay(100);
index++;
}
}
}
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";
}