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neurogears / vestibular-vr

Closed-loop VR setup for Rancz Lab
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Proportional control with PMW3360 #35

Closed RoboDoig closed 3 months ago

RoboDoig commented 6 months ago

Current implementation of proportional control workflow is somewhat 'jumpy' with the new sensor.

The first reason is that the PMW3360 output a different range of raw values, therefore the conversion from flow sensor reading to pulse interval for H2 has to be adjusted.

Need to investigate and potentially introduce some smoothing to the sensor input.

RoboDoig commented 3 months ago

We retested the proportional control workflow today with the PMW3360. It actually appears to be working well and it seems like there were two issues from last time that were resolved easily:

  1. The position of the sensor itself seems more sensitive that with the previous flow sensor, after adjustment alot of the jumpiness is gone.
  2. We were potentially using the wrong motion axis of the PMW3360 before, after switching from the X to the Y output, motion seems very smooth and responsive.
  3. Adjustment of the ApplyMotion operator and Gain to account for the different range of values coming from the PMW3360.

Closing this issue for now since it appears to be resolved with theses changes.