HoHCI-BikeSim/Assets/Scripts/Controller/Lean/PolarLeanController.cs

using System;
using Sensors;
using Sensors.Polar;
using UnityEngine;

namespace Controller.Lean
{
    
    [Serializable]
    public struct PolarRotationMapping
    {
        public float maxRight;
        public float center;
    }
    
    public class PolarLeanController: ILeanController
    {
        public PolarSensorConfig polarSensorConfig;
        public PolarRotationMapping polarRotationMapping;
        private float leanFactor;
        private BikeSensorData sensorData;

        public float LeanAngle => leanAngle;

        private float leanAngle = 0f;

        private void Start()
        {
            sensorData = BikeSensorData.Instance;
            sensorData.StartListening(polarSensorConfig: polarSensorConfig);
            leanFactor = 90f / (polarRotationMapping.maxRight - polarRotationMapping.center);
        }

        private void Update()
        {
            var polarData = sensorData.PolarData;
            if (polarData != null)
            {
                leanAngle = (polarData.Value.Acc.y - polarRotationMapping.center) * leanFactor;
            }
        }
    }
}