private IEnumerator doSomeThing(MotionRejectoryType type)
{
BleController bc = BleController.Instance;
foreach (Dictionary <string, int> dict in bc.Trajectory(type))
{
bc.Transfer(BleModelType.BLE_MOVE, dict);
int time = dict [BLE.KEY_MOVE_TIME];
float ft = (float)time / 1000;
yield return(new WaitForSeconds(ft));
}
}
public IEnumerable <Dictionary <string, int> > Trajectory(MotionRejectoryType type)
{
int[,] table = null;
switch (type)
{
case MotionRejectoryType.Rejectory1:
table = BLE.MOTION_REJECTORY1_TABLE;
break;
case MotionRejectoryType.Rejectory2:
table = BLE.MOTION_REJECTORY2_TABLE;
break;
case MotionRejectoryType.Rejectory3:
table = BLE.MOTION_REJECTORY3_TABLE;
break;
case MotionRejectoryType.Rejectory4:
table = BLE.MOTION_REJECTORY4_TABLE;
break;
default:
break;
}
if (null != table)
{
for (int i = 0; i < table.GetLength(0); i++)
{
Dictionary <string, int> dict = new Dictionary <string, int> ();
dict [BLE.KEY_MOVE_SPEED_L] = table [i, 0];
dict [BLE.KEY_MOVE_SPEED_R] = table [i, 1];
dict [BLE.KEY_MOVE_TIME] = table [i, 2];
yield return(dict);
}
}
}
