IMU Inertial Measurement Unit

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Revision as of 19:07, 19 October 2009 by NCarter (Talk | contribs)

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IMU Script

This script simulates an IMU. You can specify the update rate in the editor. It can use a Sender script to send the readings to a remote machine.

Code

<javascript> var updateFreq = 2.0; var angVel : Vector3; var angAccel : Vector3; var linVel : Vector3; var linAccel : Vector3; private var lastPos : Vector3; private var lastAng : Vector3; private var lastLinVel : Vector3; private var lastAngVel : Vector3; private var timer = 0.0; private var sender : Sender;

function Start(){ Init(); }

function Update () { timer += Time.deltaTime; if(timer>(1/updateFreq)){

lastLinVel = linVel; lastAngVel = angVel;

var lastPosInv = transform.InverseTransformPoint(lastPos);

linVel.x = (0-lastPosInv.x)/timer; linVel.y = (0-lastPosInv.y)/timer; linVel.z = (0-lastPosInv.z)/timer;

var deltaX = Mathf.Abs((transform.rotation.eulerAngles).x)-lastAng.x; if(Mathf.Abs(deltaX)<180 && deltaX>-180) angVel.x = deltaX/timer; else{ if(deltaX>180) angVel.x = (360-deltaX)/timer; else angVel.x = (360+deltaX)/timer; }

var deltaY = Mathf.Abs((transform.rotation.eulerAngles).y)-lastAng.y; if(Mathf.Abs(deltaY)<180 && deltaY>-180) angVel.y = deltaY/timer; else{ if(deltaY>180) angVel.y = (360-deltaY)/timer; else angVel.y = (360-deltaY)/timer; }

var deltaZ = Mathf.Abs((transform.rotation.eulerAngles).z)-lastAng.z; if(Mathf.Abs(deltaZ)<180 && deltaZ>-180) angVel.z = deltaZ/timer; else{ if(deltaZ>180) angVel.z = (360-deltaZ)/timer; else angVel.z = (360+deltaZ)/timer; }


linAccel.x = (linVel.x-lastLinVel.x)/timer; linAccel.y = (linVel.y-lastLinVel.y)/timer; linAccel.z = (linVel.z-lastLinVel.z)/timer; angAccel.x = ((angVel.x-lastAngVel.x)/timer)/9.81; angAccel.y = ((angVel.y-lastAngVel.y)/timer)/9.81; angAccel.z = ((angVel.z-lastAngVel.z)/timer)/9.81;

lastPos = transform.position;

lastAng.x = Mathf.Abs((transform.rotation.eulerAngles).x); lastAng.y = Mathf.Abs((transform.rotation.eulerAngles).y); lastAng.z = Mathf.Abs((transform.rotation.eulerAngles).z);

timer=0;

sender.Send(linVel + "," + linAccel + "," + angVel + "," + angAccel); }

}

function OnEnable(){ Init(); }

function Init(){ sender = gameObject.GetComponent("Sender"); } </javascript>

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