VR-Shield-Unity

Unity SDK needed to access data from VR-Shield board over Bluetooth

https://www.openhardware.io/view/33050

Installation:

1. clone the required assets(5 scripts) into your projects /Assets/ folder
2. boot Unity.
3. Create an empty game object called "PortManager"
4. drag and drop the script "Port Manager" into that object
5. File->Build Settings->Player Settings...->Configuration->Player->Api Compatibility Level: Set to ".NET Framework" (Not .NET Standard 2.x)
6. Save your project
7. Congratulation, the SDK is installed now

Device Management:

• To manage and create MCU boards or individual sensors click on the "Ports Manager" game object and use the dropdown menus.
• Each board is adressed by a number between 00 and 99
• Each sensor is adressed by the type(specified by three capital letters) and a number between 00 and 03(e.g. MPU01)
• Additionally custom designations can be assigned to that fixed adress for both the board and sensors

API features:

Since information has to be returned if some functions are called they have to be provided with a sufficient buffer array. This also means that if you request 6 values but only provide an array with length 3, only the first 3 values will be filled in.

device.Get(short[] buffer, string data_type);

Gets the value of device based on the data type. IMPORTANT!: Filtered values are calculated using the gliding average method and only for currently active devices. If a previously inactive device is asked for a filtered value it will first return an unfiltered value and activate the filter task. If a second value is requested before the task times out(currently a 10 second window) an actually filtered value will be returned. Example:

short[] buffer = {0,0,0};

gyro1.Get(buffer,"second-filtered");

This would return the 3rd to 6th value the sensor provides, in this case the accelerometer values of an IMU

Data types:

• all-filtered: as many data values as the sensor provides but filtered through gliding average
• all-raw: as many data values as the sensor provides but unfiltered straight from the sensor(could have a higher delay since fresh value has to be fetched)
• first-filtered: first three data values from the sensor, filtered in the same manner as "all-filtered"
• second-filtered: second three data...
• third-filtered: ...

device.Set(byte value);

Sets a value to an actuator and confirms the interaction through a reaction message

relay0.Set(255)

This device is set to its max. value(0xff)

device.Scan(short[] buffer);

Scans for sister/brother devices on the same board as the device mentioned. Then returns their current virtual IDs in Byte format(see table below)

short[] buffer;

magneto2.Scan(buffer);

Returns the byte address of every interactable connected to the same MCU as this device

Virtual ID Table:

AdressByte = DeviceNibble << 4 + NumberNibble

DeviceNibble:

MPU | QMC | BHL | REL

0 | 1 | 2 | 3

Number Nibble:

0 | 1 | 2 | 3