EMA for Leaning

Assets/Scenes/MainScene.unity

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+        m_Texture: {fileID: 2800000, guid: 12726e6bff222df4cbbe3ebde547c297, type: 3}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
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+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
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+        m_Texture: {fileID: 2800000, guid: 64e7766099ad46747a07014e44d0aea1, type: 3}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
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+    - _BackgroundCubemapSpace: 0
+    - _BackgroundExposure: 1
+    - _BackgroundMode: 0
+    - _Banner: 1
+    - _BumpScale: 1
+    - _CloudHeight: 0
+    - _CloudsCat: 1
+    - _CloudsHeight: 0.1
+    - _CloudsLitbySun: 1
+    - _CloudsRotation: 10
+    - _CloudsRotationSpeed: 1
+    - _Contrast: 0.477
+    - _Contrsat: 1
+    - _Cutoff: 0
+    - _DetailNormalMapScale: 1
+    - _DisableCloudsRotation: 0
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+    - _DisableRotation: 0
+    - _DstBlend: 0
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+    - _EnableCloudsRotation: 0
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+    - _EnableFogMessage: 0
+    - _EnableMoon: 0
+    - _EnablePatternOverlay: 0
+    - _EnableSkyPatternOverlay: 0
+    - _EnableStars: 0
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+    - _EnableSunMask: 0
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+    - _EnableSunMoonMask: 1
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+    - _EquatorHeight: 0.275
+    - _EquatorSmoothness: 0.741
+    - _Exposure: 0
+    - _Fade: 0.463
+    - _Float0: 2.7
+    - _Float1: 0
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+    - _Float3: 8.91
+    - _Float4: -1
+    - _Float5: -0.2
+    - _Float6: 1
+    - _FogCat: 1
+    - _FogFill: 0.273
+    - _FogHeight: 0.165
+    - _FogIntensity: 0
+    - _FogSmoothness: 0.47
+    - _GlossMapScale: 1
+    - _Glossiness: 0.5
+    - _GlossyReflections: 1
+    - _Keyword0: 0
+    - _Metallic: 0
+    - _Mode: 0
+    - _MoonCat: 1
+    - _MoonIntensity: 1
+    - _MoonSize: 0.5
+    - _OcclusionStrength: 1
+    - _Parallax: 0.02
+    - _PatternCat: 1
+    - _PatternContrast: 0.2
+    - _RoatationSpeed: 0.4
+    - _Rotation: 0
+    - _RotationSpeed: 0.5
+    - _SkyPatternContrast: 0.477
+    - _SkyPatternOverlay: 0
+    - _SmoothnessTextureChannel: 0
+    - _SpecularHighlights: 1
+    - _SrcBlend: 1
+    - _StarsAmount: 3
+    - _StarsCat: 1
+    - _StarsHeightMask: 0
+    - _StarsIntensity: 0
+    - _StarsLayer: 1
+    - _StarsRotation: 360
+    - _StarsRotationSpeed: 0.5
+    - _StarsSize: 0
+    - _StarsSunMask: 0
+    - _SunCat: 1
+    - _SunIntensity: 2.33
+    - _SunRadiusB: 0
+    - _SunRadoisA: 0.463
+    - _SunSize: 0.864
+    - _ToggleSwitch0: 0
+    - _TwinklingContrast: 0
+    - _TwinklingSpeed: 0
+    - _UVSec: 0
+    - _UseCUBEMAP: 1
+    - _UseEnvironmentGradient: 1
+    - _UseSkyPatternOverlay: 0
+    - _UseTexture: 1
+    - _WaveScale: 0
+    - _WaveSpeed: 0
+    - _ZWrite: 1
+    - __dirty: 0
+    - _adf: 0
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+    - _fresnell: 0
+    - _mip: 0
+    m_Colors:
+    - _CloudLightColor: {r: 1, g: 1, b: 1, a: 1}
+    - _CloudShadowColor: {r: 0.33239606, g: 0.46899295, b: 0.85294116, a: 1}
+    - _CloudsLightColor: {r: 0.9338235, g: 0.9338235, b: 0.9338235, a: 1}
+    - _CloudsShadowColor: {r: 0.4625865, g: 0.49787903, b: 0.9117647, a: 1}
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+    - _Color2: {r: 0.059472326, g: 0.25068596, b: 0.8088235, a: 0}
+    - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
+    - _Eq: {r: 1, g: 0.6769777, b: 0.330882, a: 0}
+    - _EquatorColor: {r: 1, g: 0.956522, b: 0.8632076, a: 0}
+    - _Ground: {r: 0.4779411, g: 0.43111518, b: 0.23545504, a: 0}
+    - _GroundColor: {r: 0.3679245, g: 0.3679245, b: 0.3679245, a: 0}
+    - _MoonColor: {r: 1, g: 1, b: 1, a: 1}
+    - _Sky: {r: 0.6691177, g: 0.29519898, b: 0.29519898, a: 0}
+    - _SkyColor: {r: 0.4462442, g: 0.5670902, b: 0.8679245, a: 0}
+    - _Skycol: {r: 0.27941146, g: 0.64219046, b: 1, a: 0}
+    - _SunColor: {r: 1, g: 0.85071, b: 0.66176474, a: 1}
+    - _Tint: {r: 1, g: 1, b: 1, a: 0}
+    - _Vector1: {r: 0, g: 1, b: 0, a: 0}
+    - _water: {r: 0.5, g: 0.5, b: 0.5, a: 1}
+  m_BuildTextureStacks: []
 --- !u!1001 &1654138309
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -2334593,7 +2334601,7 @@ MonoBehaviour:
   - routeNumber: 2
     activeMeasure: 5
     steeringMode: 2
-  activeCondition: 2
+  activeCondition: 1
 --- !u!114 &1845199122
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -2334606,7 +2334614,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 26bfac760eed4cb6a149af6640c8b518, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  subjectIdentifier: Test
+  subjectIdentifier: Lisa
 --- !u!114 &1845199123
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -2750381,9 +2750389,11 @@ MonoBehaviour:
   m_GameObject: {fileID: 2135121292}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 7e4cce8ed5f831a579cf543f5fcdfdbe, type: 3}
+  m_Script: {fileID: 11500000, guid: 18c2ceec110e2d143adfb088c7ede874, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
+  type: 2
+  routeId: 1
 --- !u!1001 &2135232027
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -2898344,7 +2898354,7 @@ PrefabInstance:
     - target: {fileID: 653210788318262021, guid: a065ef1d4c56ffa49bb0b821da25d91b,
         type: 3}
       propertyPath: framesToConsider
-      value: 5
+      value: 10
       objectReference: {fileID: 0}
     - target: {fileID: 653210788318262021, guid: a065ef1d4c56ffa49bb0b821da25d91b,
         type: 3}
@@ -2898354,7 +2898364,12 @@ PrefabInstance:
     - target: {fileID: 653210788318262021, guid: a065ef1d4c56ffa49bb0b821da25d91b,
         type: 3}
       propertyPath: polarRotationMapping.center
-      value: -4
+      value: -2
+      objectReference: {fileID: 0}
+    - target: {fileID: 653210788318262021, guid: a065ef1d4c56ffa49bb0b821da25d91b,
+        type: 3}
+      propertyPath: polarRotationMapping.maxRight
+      value: -350
       objectReference: {fileID: 0}
     - target: {fileID: 653210788318262021, guid: a065ef1d4c56ffa49bb0b821da25d91b,
         type: 3}
@@ -2898384,7 +2898399,7 @@ PrefabInstance:
     - target: {fileID: 653210788318262139, guid: a065ef1d4c56ffa49bb0b821da25d91b,
         type: 3}
       propertyPath: m_Enabled
-      value: 1
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 653210788318262140, guid: a065ef1d4c56ffa49bb0b821da25d91b,
         type: 3}

Assets/Scripts/Controller/SensorBikeController.cs

@@ -64,6 +64,14 @@ namespace Controller
             sensorData = BikeSensorData.Instance;
             leanFactor = 90f / (polarRotationMapping.maxRight - polarRotationMapping.center);
             if (framesToConsider > 1) previousLeanValues = new Queue<float>(framesToConsider);
+
+            // Sort of callibration for polar Sensor
+            var polarData = sensorData.BleData;
+            if (steeringSelection == Study.SteeringMode.Leaning && polarData != null)
+            {
+                Debug.Log("Calibration of Polar Sensor");
+                polarRotationMapping.center = polarData.Value.Acc.y;
+            }
         }
 
         private void Update()
@@ -86,7 +94,6 @@ namespace Controller
 
         private void SetSteer()
         {
-            Debug.Log("Updating Steering");
             switch (steeringSelection) {
                 case Study.SteeringMode.frontWheel:
                     if (isFrontWheelTrackerNotNull) {
@@ -101,7 +108,6 @@ namespace Controller
                         Debug.Log("Polar Y: " + polarData.Value.Acc);
                         var polarLean = CalculateLeanRotationMultiFrame(polarData);
                         Debug.Log("Ploar Post-Processed: " + polarLean);
-                        bicycleController.CurrentLeaningAngle = polarLean;
                         bicycleController.CurrentSteerAngle = polarLean;
                         // Activate below in case we also need the steering angle
                         //bicycleController.CurrentSteerAngle = (polarData.Value.Acc.y - polarRotationMapping.center) * leanFactor;
@@ -132,7 +138,7 @@ namespace Controller
         // Helpers for Lean Steering
         private float CalculateLeanRotationSingleFrame(BleSensorData? polarData)
         {
-            return (-1f) * (polarData.Value.Acc.y - polarRotationMapping.center) * leanFactor;
+            return (polarData.Value.Acc.y - polarRotationMapping.center) * leanFactor;
         }
 
         private float CalculateLeanRotationMultiFrame(BleSensorData? polarData)
@@ -143,7 +149,9 @@ namespace Controller
             previousLeanValues.Enqueue(angleThisFrame);
 
             //easiest way -> avg; TODO maybe in future, remove outliers
-            return previousLeanValues.Average();
+            float alpha = 2f/(framesToConsider+1);
+            return previousLeanValues.DefaultIfEmpty()
+             .Aggregate((ema, nextQuote) => alpha * nextQuote + (1 - alpha) * ema);
         }
     }
 }

Assets/Scripts/Obstacles/SlalomPassed.cs

@@ -1,11 +1,12 @@
-using System.Collections;
-using System.Collections.Generic;
+using Study;
 using UnityEngine;
 
 public enum WaypointType { slalom1, slalom2, finish};
 public class SlalomPassed : MonoBehaviour
 {
-     public WaypointType type;
+    public WaypointType type;
+    // Only relevant to check finish
+    public int routeId;
     // Start is called before the first frame update
     void Start()
     {
@@ -20,13 +21,28 @@ public class SlalomPassed : MonoBehaviour
 
     private void OnTriggerEnter(Collider other)
     {
-            if (other.CompareTag("bike"))
+        if (other.CompareTag("bike"))
+        {
+            // Set finished in statistics, so success is logged
+            var bikePlayer = GameObject.Find("bike");
+            var playerStats = bikePlayer.GetComponent<PlayerStats>();
+            Debug.Log("Waypoint passed");
+            if (type == WaypointType.finish)
+            {
+                var cm = GameObject.Find("ExperimentManager").GetComponent<ConditionManager>();
+                int routeNbr = cm.GetRouteNumber();
+                // If type is finish, we need to make sure we only set for right finish
+                // because routes are overlapping
+                Debug.Log("Finish Number: " + routeNbr + ", Route ID:" + routeId);
+                if (routeId == routeNbr)
+                {
+                    playerStats.SetWaypointPassed(type);
+                }
+            } 
+            else
             {
-                // Set finished in statistics, so success is logged
-                var bikePlayer = GameObject.Find("bike");
-                var playerStats = bikePlayer.GetComponent<PlayerStats>();
-                Debug.Log("Waypoint passed");
                 playerStats.SetWaypointPassed(type);
             }
+        }
     }
 }

Assets/Scripts/Study/ConditionManager.cs

@@ -62,6 +62,8 @@ namespace Study
             var sensorBike = bike.GetComponent<Controller.SensorBikeController>();
             playerStats.SetCondition(c.steeringMode);
             sensorBike.SetCondition(c.steeringMode);
+            // Make sure the script is enabled
+            sensorBike.enabled = true;
 
             fanController.enabled = c.activeMeasure == SicknessMeasure.Fan;
             vibrationController.enabled = c.activeMeasure == SicknessMeasure.Vibration;
@@ -74,5 +76,11 @@ namespace Study
             waitForSensors.waitForMqtt =
                 c.activeMeasure == SicknessMeasure.Vibration || c.activeMeasure == SicknessMeasure.Fan;
         }
+
+        public int GetRouteNumber()
+        {
+            var c = conditions[activeCondition];
+            return c.routeNumber;
+        }
     }
 }