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Balance Board: zero point calibration #9

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Balance Board: zero point calibration #9

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c71b78b
Balance Board: sensor values were exactly 4 times too big, and the ov…
lshachar Sep 28, 2020
e13eba1
Balance Board: Zero point calibration in WiimoteLib.
lshachar Sep 29, 2020
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29 changes: 29 additions & 0 deletions WiimoteCS/WiimoteLib/DataTypes.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -538,6 +538,11 @@ public struct BalanceBoardState
[DataMember]
public BalanceBoardSensorsF SensorValuesLb;
/// <summary>
/// Zero Point / tare values
/// </summary>
[DataMember]
public ZeroPoint ZeroPoint;
/// <summary>
/// Total kilograms on the Balance Board
/// </summary>
[DataMember]
Expand Down Expand Up @@ -636,6 +641,30 @@ public struct BalanceBoardSensorsF
public float BottomLeft;
}

/// /// <summary>
/// Zero Point / tare values
/// </summary>
[Serializable]
[DataContract]
public struct ZeroPoint
{
/// <summary>
/// Kilograms per sensor
/// </summary>
[DataMember]
public BalanceBoardSensorsF SensorValuesKg;
/// <summary>
/// Has Zero Point been set?
/// </summary>
[DataMember]
public Boolean IsSet;
/// <summary>
/// Set the zero point
/// </summary>
[DataMember]
public Boolean Reset;
}

/// <summary>
/// Current state of a single IR sensor
/// </summary>
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27 changes: 23 additions & 4 deletions WiimoteCS/WiimoteLib/Wiimote.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -862,13 +862,32 @@ private void ParseExtension(byte[] buff, int offset)
mWiimoteState.BalanceBoardState.SensorValuesKg.BottomLeft = GetBalanceBoardSensorValue(mWiimoteState.BalanceBoardState.SensorValuesRaw.BottomLeft, mWiimoteState.BalanceBoardState.CalibrationInfo.Kg0.BottomLeft, mWiimoteState.BalanceBoardState.CalibrationInfo.Kg17.BottomLeft, mWiimoteState.BalanceBoardState.CalibrationInfo.Kg34.BottomLeft);
mWiimoteState.BalanceBoardState.SensorValuesKg.BottomRight = GetBalanceBoardSensorValue(mWiimoteState.BalanceBoardState.SensorValuesRaw.BottomRight, mWiimoteState.BalanceBoardState.CalibrationInfo.Kg0.BottomRight, mWiimoteState.BalanceBoardState.CalibrationInfo.Kg17.BottomRight, mWiimoteState.BalanceBoardState.CalibrationInfo.Kg34.BottomRight);

if (mWiimoteState.BalanceBoardState.ZeroPoint.Reset)
{
mWiimoteState.BalanceBoardState.ZeroPoint.SensorValuesKg.TopLeft = mWiimoteState.BalanceBoardState.SensorValuesKg.TopLeft;
mWiimoteState.BalanceBoardState.ZeroPoint.SensorValuesKg.TopRight = mWiimoteState.BalanceBoardState.SensorValuesKg.TopRight;
mWiimoteState.BalanceBoardState.ZeroPoint.SensorValuesKg.BottomLeft = mWiimoteState.BalanceBoardState.SensorValuesKg.BottomLeft;
mWiimoteState.BalanceBoardState.ZeroPoint.SensorValuesKg.BottomRight = mWiimoteState.BalanceBoardState.SensorValuesKg.BottomRight;
mWiimoteState.BalanceBoardState.ZeroPoint.IsSet = true;
mWiimoteState.BalanceBoardState.ZeroPoint.Reset = false;
// todo: average over 2 seconds of readings, if values are not stable, reset failed.
}

if (mWiimoteState.BalanceBoardState.ZeroPoint.IsSet)
{
mWiimoteState.BalanceBoardState.SensorValuesKg.TopLeft -= mWiimoteState.BalanceBoardState.ZeroPoint.SensorValuesKg.TopLeft;
mWiimoteState.BalanceBoardState.SensorValuesKg.TopRight -= mWiimoteState.BalanceBoardState.ZeroPoint.SensorValuesKg.TopRight;
mWiimoteState.BalanceBoardState.SensorValuesKg.BottomLeft -= mWiimoteState.BalanceBoardState.ZeroPoint.SensorValuesKg.BottomLeft;
mWiimoteState.BalanceBoardState.SensorValuesKg.BottomRight -= mWiimoteState.BalanceBoardState.ZeroPoint.SensorValuesKg.BottomRight;
}

mWiimoteState.BalanceBoardState.SensorValuesLb.TopLeft = (mWiimoteState.BalanceBoardState.SensorValuesKg.TopLeft * KG2LB);
mWiimoteState.BalanceBoardState.SensorValuesLb.TopRight = (mWiimoteState.BalanceBoardState.SensorValuesKg.TopRight * KG2LB);
mWiimoteState.BalanceBoardState.SensorValuesLb.BottomLeft = (mWiimoteState.BalanceBoardState.SensorValuesKg.BottomLeft * KG2LB);
mWiimoteState.BalanceBoardState.SensorValuesLb.BottomRight = (mWiimoteState.BalanceBoardState.SensorValuesKg.BottomRight * KG2LB);

mWiimoteState.BalanceBoardState.WeightKg = (mWiimoteState.BalanceBoardState.SensorValuesKg.TopLeft + mWiimoteState.BalanceBoardState.SensorValuesKg.TopRight + mWiimoteState.BalanceBoardState.SensorValuesKg.BottomLeft + mWiimoteState.BalanceBoardState.SensorValuesKg.BottomRight) / 4.0f;
mWiimoteState.BalanceBoardState.WeightLb = (mWiimoteState.BalanceBoardState.SensorValuesLb.TopLeft + mWiimoteState.BalanceBoardState.SensorValuesLb.TopRight + mWiimoteState.BalanceBoardState.SensorValuesLb.BottomLeft + mWiimoteState.BalanceBoardState.SensorValuesLb.BottomRight) / 4.0f;
mWiimoteState.BalanceBoardState.WeightKg = (mWiimoteState.BalanceBoardState.SensorValuesKg.TopLeft + mWiimoteState.BalanceBoardState.SensorValuesKg.TopRight + mWiimoteState.BalanceBoardState.SensorValuesKg.BottomLeft + mWiimoteState.BalanceBoardState.SensorValuesKg.BottomRight);
mWiimoteState.BalanceBoardState.WeightLb = (mWiimoteState.BalanceBoardState.SensorValuesLb.TopLeft + mWiimoteState.BalanceBoardState.SensorValuesLb.TopRight + mWiimoteState.BalanceBoardState.SensorValuesLb.BottomLeft + mWiimoteState.BalanceBoardState.SensorValuesLb.BottomRight);

float Kx = (mWiimoteState.BalanceBoardState.SensorValuesKg.TopLeft + mWiimoteState.BalanceBoardState.SensorValuesKg.BottomLeft) / (mWiimoteState.BalanceBoardState.SensorValuesKg.TopRight + mWiimoteState.BalanceBoardState.SensorValuesKg.BottomRight);
float Ky = (mWiimoteState.BalanceBoardState.SensorValuesKg.TopLeft + mWiimoteState.BalanceBoardState.SensorValuesKg.TopRight) / (mWiimoteState.BalanceBoardState.SensorValuesKg.BottomLeft + mWiimoteState.BalanceBoardState.SensorValuesKg.BottomRight);
Expand All @@ -885,9 +904,9 @@ private float GetBalanceBoardSensorValue(short sensor, short min, short mid, sho
return 0;

if(sensor < mid)
return 68.0f * ((float)(sensor - min) / (mid - min));
return 17.0f * ((float)(sensor - min) / (mid - min));
else
return 68.0f * ((float)(sensor - mid) / (max - mid)) + 68.0f;
return 17.0f * ((float)(sensor - mid) / (max - mid)) + 17.0f;
}


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