当我第一次用我的 mpu6050 尝试 arduino 代码时，串行监视器显示读数。但是，当我尝试将其与统一联系起来时，无法统一显示或使用读数。我被这个问题困住了。我试图使我统一创建的立方体随着鼠标位置移动，然后被 mpu 6050 替换。
Arduino代码
#include <Wire.h>
#include <I2Cdev.h>
#include <MPU6050.h>
MPU6050 mpu;
int16_t ax, ay, az, gx, gy, gz;
int vx, vy;
void setup() {
Serial.begin(115200);
Wire.begin();
mpu.initialize();
//if (!mpu.testConnection()) { while (1); }
}
void loop() {
mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
vx = ((gx+300)/150)-1; // "+300" because the x axis of gyroscope give
values about -350 while it's not moving. Change this value if you get
something different using the TEST code, chacking if there are values far
from zero.
vy = -(gz-100)/150; // same here about "-100"
String output = String(gx) + ";" + String(gz) + ";" + String(vx) + ";" +
String(vy);
Serial.println(output);
Serial.flush();
delay(10);
}
统一代码
public class Cube : MonoBehaviour {
SerialPort stream = new SerialPort("COM4", 115200);
public Camera cam;
public float mousex;
public float mousey;
public GameObject target; // is the gameobject to
public float acc_normalizer_factor = 0.00025f;
public float gyro_normalizer_factor = 1.0f / 32768.0f; // 32768 is max
value captured during test on imu
//float curr_angle_x = 0;
//float curr_angle_y = 0;
//float curr_angle_z = 0;
float curr_offset_x = 0;
float curr_offset_y = -2;
void Start()
{
stream.Open();
cam = Camera.main;
}
void Update()
{
string dataString = "null received";
dataString = stream.ReadLine();
char splitChar = ';';
string[] dataRaw = dataString.Split(splitChar);
float vx = int.Parse(dataRaw[2]);
float vy = int.Parse(dataRaw[3]);
curr_offset_x += (vx * acc_normalizer_factor);
curr_offset_y += (vy * acc_normalizer_factor);
//get mouse possition
mousex = (curr_offset_x);
mousey = (curr_offset_y);
//adapt it to screen
// 5 in z to be in the front of the camera, but up to you, just
avoid 0
Vector3 mouseposition = cam.ScreenToWorldPoint(new Vector3(mousex,
mousey, 5));
//make your gameobject fallow your input
target.transform.position = mouseposition;
}