// Configure axel height (vertical into robot) and position along z-axis (forward)
public void ConfigureAxel(float axelHeight, float axelPos, AxelType type)
{
Vector3 axel = new Vector3(0f, axelHeight, axelPos);
if (type == AxelType.Drive)
{
axelDrive.localPosition = axel;
}
else if (type == AxelType.Turn)
{
axelTurn.localPosition = axel;
}
wheelController.wheelDist = Mathf.Abs(axelTurn.localPosition.z - axelDrive.localPosition.z);
}
public void ConfigureWheels(float diameter, float maxVel, int ticksPerRev, float track, AxelType type)
{
}
// Configure axel height (vertical into robot) and position along z-axis (forward)
public void ConfigureAxel(float axelHeight, float axelPos, AxelType type)
{
}
public void ConfigureWheels(float diameter, float maxVel, int ticksPerRev, float track, AxelType type)
{
if (type == AxelType.Drive)
{
Wheel leftWheel = wheelController.driveWheels[0];
leftWheel.GetComponent <HingeJoint>().connectedAnchor = new Vector3(-track, axelDrive.localPosition.y, axelDrive.localPosition.z);
leftWheel.transform.localPosition = new Vector3(-track, 0f, 0f);
leftWheel.transform.localScale = new Vector3(diameter, diameter, diameter);
leftWheel.encoderRate = ticksPerRev;
leftWheel.maxSpeed = maxVel;
leftWheel.diameter = diameter;
Wheel rightWheel = wheelController.driveWheels[1];
rightWheel.GetComponent <HingeJoint>().connectedAnchor = new Vector3(track, axelDrive.localPosition.y, axelDrive.localPosition.z);
rightWheel.transform.localPosition = new Vector3(track, 0f, 0f);
rightWheel.transform.localScale = new Vector3(diameter, diameter, diameter);
rightWheel.encoderRate = ticksPerRev;
rightWheel.maxSpeed = maxVel;
rightWheel.diameter = diameter;
}
else if (type == AxelType.Turn)
{
Wheel leftWheel = wheelController.turnWheels[0];
leftWheel.transform.localScale = new Vector3(diameter, diameter, diameter);
leftWheel.SetTrack(-track, axelTurn.localPosition.y, axelTurn.localPosition.z);
leftWheel.encoderRate = ticksPerRev;
leftWheel.maxSpeed = maxVel;
Wheel rightWheel = wheelController.turnWheels[1];
rightWheel.SetTrack(track, axelTurn.localPosition.y, axelTurn.localPosition.z);
rightWheel.transform.localScale = new Vector3(diameter, diameter, diameter);
rightWheel.encoderRate = ticksPerRev;
rightWheel.maxSpeed = maxVel;
wheelController.wheelDist = track;
}
}
public void ConfigureWheels(float diameter, float maxVel, int ticksPerRev, float track, AxelType type)
{
Wheel leftWheel = wheelController.wheels[0];
leftWheel.GetComponent <HingeJoint>().connectedAnchor = new Vector3(-track, axel.localPosition.y, axel.localPosition.z);
leftWheel.transform.localPosition = new Vector3(-track, 0f, 0f);
leftWheel.transform.localScale = new Vector3(diameter, diameter, diameter);
leftWheel.encoderRate = ticksPerRev;
leftWheel.maxSpeed = maxVel;
leftWheel.diameter = diameter;
Wheel rightWheel = wheelController.wheels[1];
rightWheel.GetComponent <HingeJoint>().connectedAnchor = new Vector3(track, axel.localPosition.y, axel.localPosition.z);
rightWheel.transform.localPosition = new Vector3(track, 0f, 0f);
rightWheel.transform.localScale = new Vector3(diameter, diameter, diameter);
rightWheel.encoderRate = ticksPerRev;
rightWheel.maxSpeed = maxVel;
rightWheel.diameter = diameter;
wheelController.wheelDist = Mathf.Abs(track * 2f);
}
// Configure axel height (vertical into robot) and position along z-axis (forward)
public void ConfigureAxel(float axelHeight, float axelPos, AxelType type)
{
axel.localPosition = new Vector3(0f, axelHeight, axelPos);
}
