Browse Source

Fix bias in lean steering

Chris 2 years ago
parent
commit
e97c5bd251
2 changed files with 286 additions and 297 deletions
  1. 283 293
      Assets/Scenes/MainScene.unity
  2. 3 4
      Assets/Scripts/Controller/SensorBikeController.cs

+ 283 - 293
Assets/Scenes/MainScene.unity

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+    - _EnableClouds: 1
+    - _EnableCloudsRotation: 0
+    - _EnableDirectionLight: 1
+    - _EnableFogMessage: 0
+    - _EnableMoon: 0
+    - _EnablePatternOverlay: 0
+    - _EnableSkyPatternOverlay: 0
+    - _EnableStars: 0
+    - _EnableStarsRotation: 0
+    - _EnableStarsTwinkling: 0
+    - _EnableSun: 1
+    - _EnableSunMask: 0
+    - _EnableSunMoon: 1
+    - _EnableSunMoonMask: 1
+    - _EnableTwinkling: 0
+    - _EqHeight: 0.419
+    - _EquatorHeight: 0.275
+    - _EquatorSmoothness: 0.741
+    - _Exposure: 0
+    - _Fade: 0.463
+    - _Float0: 2.7
+    - _Float1: 0
+    - _Float2: 0
+    - _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
+    - _angle: 145
+    - _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}
+    - _Color: {r: 1, g: 1, b: 1, a: 1}
+    - _Color0: {r: 0, g: 0.5054344, b: 1, a: 0}
+    - _Color1: {r: 1, g: 1, b: 1, a: 0}
+    - _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 &962163711
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -1265579,8 +1265575,6 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 18c2ceec110e2d143adfb088c7ede874, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  type: 2
-  routeId: 0
 --- !u!1001 &1034583107
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -1793164,8 +1793158,6 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 18c2ceec110e2d143adfb088c7ede874, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  type: 0
-  routeId: 0
 --- !u!1001 &1439413521
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -2750591,8 +2750583,6 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 18c2ceec110e2d143adfb088c7ede874, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  type: 2
-  routeId: 1
 --- !u!1001 &2135232027
 PrefabInstance:
   m_ObjectHideFlags: 0

+ 3 - 4
Assets/Scripts/Controller/SensorBikeController.cs

@@ -63,7 +63,8 @@ namespace Controller
             isHMDTrackerNotNull = hmdTrackerConfig.cameraTracker != null;
             bicycleController = GetComponent<IBicycleController>();
             sensorData = BikeSensorData.Instance;
-            leanFactor = 90f / (polarRotationMapping.maxRight - polarRotationMapping.center);
+            //leanFactor = 90f / (polarRotationMapping.maxRight - polarRotationMapping.center);
+            leanFactor = 45f / polarRotationMapping.maxRight;
             if (framesToConsider > 1) previousLeanValues = new Queue<float>(framesToConsider);
 
             // Sort of callibration for polar Sensor
@@ -142,7 +143,6 @@ namespace Controller
         private float CalculateLeanRotationSingleFrame(BleSensorData? polarData)
         {
             float steerUpdate = polarData.Value.Acc.y - polarRotationMapping.center;
-            // steerUpdate = Math.Abs(steerUpdate - polarRotationMapping.center) < tolerance ? 0 : steerUpdate;
             return steerUpdate * leanFactor;
         }
 
@@ -158,9 +158,8 @@ namespace Controller
             float steerUpdate = previousLeanValues.DefaultIfEmpty()
              .Aggregate((ema, nextQuote) => alpha * nextQuote + (1 - alpha) * ema);
 
-            // Do global thresholding, to avoid noisy steering
+            // Do Global Thresholding, to avoid noisy steering
             return Math.Abs(steerUpdate - polarRotationMapping.center) < tolerance ? 0 : steerUpdate;
-            //return steerUpdate;
         }
     }
 }