The Arduino code, in both the calibrated and uncalibrated version, send X, Y and Z coordinates from the 9 DoF sensor over serial. | are used as data delimiters and a line break is added after the Z data point.
//uncalibrated code loop
lsm6ds.getEvent(&accel, &gyro, &temp);
x = map(accel.acceleration.x, -12, 11, 180, -180);
y = map(accel.acceleration.y, -19, 20, -180, 180);
z = map(accel.acceleration.z, -17, 15, 180, -180);
Serial.print("|");
Serial.print(x);
Serial.print("|");
Serial.print(y);
Serial.print("|");
Serial.print(z);
Serial.println();
delay(50);
//calibrated code loop
roll = filter.getRoll();
pitch = filter.getPitch();
heading = filter.getYaw();
Serial.print("|");
Serial.print(heading);
Serial.print("|");
Serial.print(pitch);
Serial.print("|");
Serial.print(roll);
Serial.println();
In the C# script, a serial port is opened and the incoming baud rate is set. You will change the serial port to match your board's port. t represents the object that will be rotated in Unity. By making it a public object, it will appear in Unity as an editable value.
SerialPort stream = new SerialPort("COM52", 9600);
public Transform t;
In the loop, the incoming serial data is parsed using the | delimiter. The X, Y and Z values are assigned to individual variables and converted to floats.
string UnSplitData = stream.ReadLine();
print(UnSplitData);
string[] SplitData = UnSplitData.Split('|');
float AccX = float.Parse(SplitData[1]);
float AccY = float.Parse(SplitData[2]);
float AccZ = float.Parse(SplitData[3]);
The X, Y and Z data are packed into a Vector3 object. Finally, the data is sent to the Unity and applied to the destination 3D object using a rotation with Quaternion.Slerp() to apply the X, Y and Z coordinates as Euler measurements.
lastData = new Vector3(AccX, AccY, AccZ); t.transform.rotation = Quaternion.Slerp(t.transform.rotation, Quaternion.Euler(lastData), Time.deltaTime * 2f);
Page last edited March 08, 2024
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