JoyCon support

[Eirenliel]

Add support for JoyCons as SlimeTracker.

[blaineam]

This sounds like a glorious idea if it works. I would love to test this. I have 4 joy cons and can easily grab another pair.

[kitlith]

it sounds like this will likely be prone to drift, as the joycon only has 6DoF (accelerometer, gyroscope, no magnetometer) like the MPU-6500 or MPU-6050. however, it'll probably still make a decent testbed for people who want to try the concept but don't want to get hardware for it yet.

https://github.com/dekuNukem/Nintendo_Switch_Reverse_Engineering/blob/master/bluetooth_hid_subcommands_notes.md#subcommand-0x43-read-imu-registers

https://github.com/dekuNukem/Nintendo_Switch_Reverse_Engineering/blob/master/datasheets/LSM6DS3.pdf

there's a little bit of stuff in java for interacting with the joycon, but i didn't see anything targeting the IMU in particular. might be better to reference some of the non-java code, idk.

EDIT: i could be wrong but the joycon's sensor doesn't appear to do sensor fusion, so we'll probably have to do that ourselves.

[Eirenliel]

@kitlith hang out with us on the discord :D D3adPlays currently is trying to build imu reading based on https://github.com/elgoupil/joyconLib

6DoF is okay, slimes themselves use 6DoF fusion, BNO085 and LSM6DS3 have pretty good gyros.

[kitlith]

oh, they're not using 9dof fusion? My bad.

[dreieinss3chs]

what is with PSMOVE from ps3 ... not the new for ps4 they have accelerometer, gyroscope and " magnetometer

[Eirenliel]

Was actually implemented in: https://github.com/carl-anders/slimevr-wrangler