This week I spent most of the time fine tuning our position data, helping Anthony integrate the our pen with our Unity App, and working on our final presentation slides.
After trying to compensate for the drift in our IMU as well as errors in rotation, I have decided that it would be easier to use built-in quaternions to be able to get more accurate rotational data. Additionally, I have added a calibration phase to before you can actually use the pen device in order to help reduce error. This seemed to have help quite significantly, but there are still some drift issues that need to be addressed.
This week I also helped Anthony work on sending our data over via Bluetooth. As of now, our Android phones seem to be able to display our hardware data properly. There are some issues with sending the data over as data needs to be sent as a string but then we need to reparse it to a float value to use.
I also helped work on our final presentation slides that will be presented in class next week.
As of now, I am technically on schedule because everything is integrated and has been fine tuned a bit. However, our testing and validation results are not as flushed out as we would have liked so we need to spend some more time to get more concrete numbers and stats.
Next week will be spent trying to make the pen look more neat by solder it to an Arduino shield as well as writing our final report, preparing for the final demo, and making our demo video. Additionally, if there is still time, I would like to try to fine tune our IMU position more to see if we can get it a little less finicky.