This week, I was able to finally get the Bluetooth module up and running on my raspberry pi. The pi can now listen for connections on startup, and then once a device connects to the pi, the pi can send data from the IMU to that device. I tested this with a bluetooth terminal on my phone, and the bluetooth has been reliable. When I tested with the Unity module with Henry, however, it has not consistently connected, so we still need to trouble shoot why that is the case. Moving forward, I will need to also test how the latency works in real time with the sending of data between devices.
I have also begun looking into ways to extract velocity and maybe even position data from the IMU on top of the current orientation data. I am researching how to use quaternions and rotation matrices to make the IMU data relate to the global axes as opposed to just the IMU axes. This is something I will have to look into more, and then also implement and test moving forward.