Problems creating a IMU player controller using Uduino in Unity

Unity Engine
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1

Hey everyone! Let me start by saying I’m not a very good programmer and recently I got stuck trying to figure out a bug in a game I’m making in Unity. I’m using an ArduinoEsp32 with an MPU6050 alongside the Uduino plugin to read the player movements in the game(It’s basically a Plane that can move up or down depending on if I lift the Arduino sensor in one of those directions).

But I don’t know how. But there is a nasty bug that is changing the direction of the plane movements a couple of seconds after the game starts. It can also occur with I plunge the the board out and put it in again. It is also strange that whenever I alter the code. He keeps working fine. But if I disconnect the movements get inverted and after a couple of seconds the plane slowly starts to get slower until stops moving but then he returns back to the " normal " movement of before. Is like X, Y, and Z are moving around themselves from time to time. I don’t have an idea how to solve this.

Any thoughts on the matter? Here’s the scripts I’m using:

This one is from the IMU

using UnityEngine;
using Uduino;

public class ReceiveIMUValues : MonoBehaviour
{
    public Vector3 sensitivity = new Vector3(1.0f, 1.0f, 1.0f);
    public string imuName = "r";
    public float speedFactor = 15.0f;
    private Quaternion currentRotation;

    public float imuX;
    public float imuY;
    public float imuZ;

    void Start()
    {
        UduinoManager.Instance.OnDataReceived += ReadIMU;
    }

    public Quaternion GetRotation()
    {
        return currentRotation;
    }

    public void ReadIMU(string data, UduinoDevice device)
    {
        string[] values = data.Split('/');
        if (values.Length == 5 && values[0] == imuName)
        {
            float w = float.Parse(values[1]);
            float rawImuX = float.Parse(values[2]);
            float rawImuY = float.Parse(values[3]);
            float rawImuZ = float.Parse(values[4]);

            imuX = rawImuX * sensitivity.x;
            imuY = rawImuY * sensitivity.y;
            imuZ = rawImuZ * sensitivity.z;

            Quaternion newRotation = new Quaternion(imuX, imuY, imuZ, w);
            currentRotation = Quaternion.Slerp(currentRotation, newRotation, Time.deltaTime * speedFactor);
        }
    }

}

And this one is for the plane movement:

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.UI;

public class MoveObject : MonoBehaviour
{
    public float speed = 10.0f;
    public Vector3 minBounds = new Vector3(-10.0f, -10.0f, -10.0f);
    public Vector3 maxBounds = new Vector3(10.0f, 10.0f, 10.0f);
    private ReceiveIMUValues receiveIMUValues;

    public Slider sensitivitySlider; // Slider de sensibilidade

    void Start()
    {
        receiveIMUValues = FindObjectOfType<ReceiveIMUValues>();
    }

    void Update()
    {
        
        float arduinoValueX = receiveIMUValues.imuY;
        float arduinoValueY = receiveIMUValues.imuX;

      
        float sensitivity = sensitivitySlider.value;
        arduinoValueX *= sensitivity;
        arduinoValueY *= sensitivity;

      
        Vector3 movement = new Vector3(arduinoValueX, arduinoValueY, 0) * speed * Time.deltaTime;

     
        Vector3 newPosition = transform.position + movement;
        newPosition = Vector3.Max(newPosition, minBounds);
        newPosition = Vector3.Min(newPosition, maxBounds);

        
        transform.position = newPosition;
    }
}