private void AddDevices()
{
_autd.ClearDevices();
foreach (var item in AUTDSettings.Instance.GeometriesReactive)
{
_autd.AddDevice(new Vector3d(item.X.Value, item.Y.Value, item.Z.Value), new Vector3d(item.RotateZ1.Value, item.RotateY.Value, item.RotateZ2.Value));
}
}
void Awake()
{
_autd = new AUTD();
// 単位や座標系はUnity空間に合わせてあります
// つまり, 単位はm, 座標系は"z"軸の反転した左手座標系です
// また, 回転指定にクオータニオンを直接指定できます.
_autd.AddDevice(gameObject.transform.position, gameObject.transform.rotation);
_autd.Open();
_autd.AppendModulationSync(AUTD.SineModulation(150)); // 150 Hz
}
void Awake()
{
_autd = new AUTD();
_autd.AddDevice(gameObject.transform.position, gameObject.transform.rotation);
string ifname = @"write your interface name here";
_link = Link.SOEM(ifname, _autd.NumDevices);
_autd.Open(_link);
_autd.Clear();
_autd.Send(Modulation.Sine(150)); // 150 Hz
}
public static void Test()
{
Console.WriteLine("Test with TwinCAT");
var autd = new AUTD();
autd.AddDevice(Vector3d.Zero, Vector3d.Zero);
var link = Link.TwinCAT();
if (!autd.Open(link))
{
Console.WriteLine(AUTD.LastError);
return;
}
TestRunner.Run(autd);
}
public static void Test()
{
Console.WriteLine("Test with SOEM");
var autd = new AUTD();
autd.AddDevice(Vector3d.Zero, Vector3d.Zero);
//autd.AddDevice(Vector3d.Zero, Vector3d.Zero, 1);
var ifname = GetIfname();
var link = Link.SOEM(ifname, autd.NumDevices, 1, x =>
{
Console.WriteLine($"Unrecoverable error occurred: {x}");
Environment.Exit(-1);
});
if (!autd.Open(link))
{
Console.WriteLine(AUTD.LastError);
return;
}
TestRunner.Run(autd);
}
public void AddDevice(float x, float y, float z)
{
_autd.AddDevice(new Vector3f(x, y, z), Vector3f.Zero);
}
