public static UniTask <Cube.TargetMoveRespondType> TargetMove(Cube cube,
int targetX, int targetY, int targetAngle, int configID = 0, int timeOut = 0,
Cube.TargetMoveType targetMoveType = Cube.TargetMoveType.RotatingMove, int maxSpd = 80,
Cube.TargetSpeedType targetSpeedType = Cube.TargetSpeedType.UniformSpeed,
Cube.TargetRotationType targetRotationType = Cube.TargetRotationType.AbsoluteLeastAngle,
Cube.ORDER_TYPE order = Cube.ORDER_TYPE.Strong)
{
var source = new UniTaskCompletionSource <Cube.TargetMoveRespondType>();
var callbackKey = Guid.NewGuid().ToString();
cube.targetMoveCallback.RemoveListener(callbackKey);
cube.targetMoveCallback.AddListener(callbackKey, (_cube, _configId, _respondType) =>
{
if (_configId == configID)
{
DelayedRemoveTargetMoveCallback(cube, callbackKey);
source.TrySetResult(_respondType);
}
});
cube.TargetMove(targetX, targetY, targetAngle, configID, timeOut,
targetMoveType, maxSpd, targetSpeedType, targetRotationType, order);
return(source.Task);
}
// COMMAND API
public override void TargetMove(
int targetX,
int targetY,
int targetAngle,
int configID,
int timeOut,
Cube.TargetMoveType targetMoveType,
int maxSpd,
Cube.TargetSpeedType targetSpeedType,
Cube.TargetRotationType targetRotationType
)
{
#if !RELEASE
if (65535 < targetX || targetX < -1)
{
Debug.LogErrorFormat("[Cube.TargetMove]X座標範囲を超えました. targetX={0}", targetX);
}
if (65535 < targetY || targetY < -1)
{
Debug.LogErrorFormat("[Cube.TargetMove]Y座標範囲を超えました. targetY={0}", targetY);
}
if (8191 < targetAngle)
{
Debug.LogErrorFormat("[Cube.TargetMove]回転角度範囲を超えました. targetAngle={0}", targetAngle);
}
if (255 < configID)
{
Debug.LogErrorFormat("[Cube.TargetMove]制御識別値範囲を超えました. configID={0}", configID);
}
if (255 < timeOut)
{
Debug.LogErrorFormat("[Cube.TargetMove]制御時間範囲を超えました. timeOut={0}", timeOut);
}
if (this.maxMotor < maxSpd)
{
Debug.LogErrorFormat("[Cube.TargetMove]速度範囲を超えました. maxSpd={0}", maxSpd);
}
#endif
MotorTargetCmd cmd = new MotorTargetCmd();
cmd.x = (ushort)(targetX == -1?65535:Mathf.Clamp(targetX, 0, 65535));
cmd.y = (ushort)(targetY == -1?65535:Mathf.Clamp(targetY, 0, 65535));
cmd.deg = (ushort)Mathf.Clamp(targetAngle, 0, 8191);
cmd.configID = (byte)Mathf.Clamp(configID, 0, 255);
cmd.timeOut = (byte)Mathf.Clamp(timeOut, 0, 255);
cmd.targetMoveType = targetMoveType;
cmd.maxSpd = (byte)Mathf.Clamp(maxSpd, 0, this.maxMotor);
cmd.targetSpeedType = targetSpeedType; cmd.targetRotationType = targetRotationType;
cmd.tRecv = Time.time;
MotorSetCmd(MotorCmdType.MotorTargetCmd, cmd);
}
// --------- 2.1.0 --------
public void TargetMove(
int targetX,
int targetY,
int targetAngle,
int configID,
int timeOut,
Cube.TargetMoveType targetMoveType,
int maxSpd,
Cube.TargetSpeedType targetSpeedType,
Cube.TargetRotationType targetRotationType
)
{
DelayCommand(() => impl.TargetMove(targetX, targetY, targetAngle, configID, timeOut, targetMoveType, maxSpd, targetSpeedType, targetRotationType));
}
protected (float, float, float) TargetMove_RotateControl(
float absoluteDeg, float relativeDeg, float lastDeg,
Cube.TargetRotationType targetRotationType, byte maxSpd
)
{
float rotate = 0;
var ddeg = Deg(absoluteDeg - this.deg);
// 回転タイプ
switch (targetRotationType)
{
case (Cube.TargetRotationType.AbsoluteLeastAngle): // 絶対角度 回転量が少ない方向
case (Cube.TargetRotationType.Original): // 書き込み操作時と同じ 回転量が少ない方向
{
rotate = ddeg;
break;
}
case (Cube.TargetRotationType.AbsoluteClockwise): // 絶対角度 正方向(時計回り)
{
rotate = (ddeg + 360) % 360;
break;
}
case (Cube.TargetRotationType.RelativeClockwise): // 相対角度 正方向(時計回り)
{
if (relativeDeg < 180)
{
rotate = (ddeg + 360) % 360;
}
else
{
var ddegr = Deg(this.deg - lastDeg);
relativeDeg = relativeDeg - ddegr;
this.motorTargetCmd.lastDeg = this.deg;
rotate = 360;
}
break;
}
case (Cube.TargetRotationType.AbsoluteCounterClockwise): // 絶対角度 負方向(反時計回り)
{
rotate = -(-ddeg + 360) % 360;
break;
}
case (Cube.TargetRotationType.RelativeCounterClockwise): // 相対角度 負方向(反時計回り)
{
if (relativeDeg < 180)
{
rotate = -(-ddeg + 360) % 360;
}
else
{
var ddegr = Deg(this.deg - lastDeg);
relativeDeg = relativeDeg + ddegr;
this.motorTargetCmd.lastDeg = this.deg;
rotate = -360;
}
break;
}
}
if (rotate >= 0)
{
rotate = Mathf.Clamp(rotate, deadzone, maxSpd);
}
else
{
rotate = Mathf.Clamp(rotate, -maxSpd, -deadzone);
}
return(0, rotate, relativeDeg);
}
