// Update is called once per frame
void Update()
{
UpdateState();
// Send encoder data
Newtonsoft.Json.Linq.JObject jo = new JObject();
jo.Add(new JProperty("type", "CANEncoder"));
jo.Add(new JProperty("device", $"Talon SRX[{Id}]/Quad Encoder"));
Newtonsoft.Json.Linq.JObject dataObject = new JObject();
dataObject.Add(new JProperty(">rawPositionInput", encoderPosition));
dataObject.Add(new JProperty(">velocity", encoderVelocity));
jo.Add("data", dataObject);
string message = JsonConvert.SerializeObject(jo);
WebSocketInterface.Send(message);
jo = new JObject();
jo.Add(new JProperty("type", "CANMotor"));
jo.Add(new JProperty("device", $"Talon SRX[{Id}]"));
dataObject = new JObject();
dataObject.Add(new JProperty(">busVoltage", busVoltage));
dataObject.Add(new JProperty(">supplyCurrent", supplyCurrent));
dataObject.Add(new JProperty(">motorCurrent", motorCurrent));
jo.Add("data", dataObject);
message = JsonConvert.SerializeObject(jo);
WebSocketInterface.Send(message);
}
// Update is called once per frame
void Update()
{
if (ws)
{
Newtonsoft.Json.Linq.JObject jo = new JObject();
jo.Add(new JProperty("type", "DriverStation"));
jo.Add(new JProperty("device", ""));
Newtonsoft.Json.Linq.JObject dataObject = new JObject();
dataObject.Add(new JProperty(">new_data", newData));
//dataObject.Add(new JProperty(">enabled", enable));
dataObject.Add(new JProperty(">enabled", enable ? 1 : 0));
dataObject.Add(new JProperty(">autonomous", autonomous ? 1 : 0));
//dataObject.Add(new JProperty(">test", testing ? 1 : 0));
dataObject.Add(new JProperty(">estop", estop ? 1 : 0));
dataObject.Add(new JProperty(">fms", fmsConnected));
dataObject.Add(new JProperty(">ds", dsConnected));
dataObject.Add(new JProperty(">station", station));
// dataObject.Add(new JProperty(">match_time", matchTime));
dataObject.Add(new JProperty(">game_data", gameData));
jo.Add("data", dataObject);
string message = JsonConvert.SerializeObject(jo);
if (enable && teleop)
{
// Debug.Log($"Driverstation message {message}");
}
ws.Send(message);
}
newData = false;
}
// Update is called once per frame
// Inputs to robot code
void Update()
{
// add processing for each value
Newtonsoft.Json.Linq.JObject jo = new JObject();
jo.Add(new JProperty("type", "RoboRIO"));
jo.Add(new JProperty("device", ""));
Newtonsoft.Json.Linq.JObject dataObject = new JObject();
dataObject.Add(new JProperty(">fpga_button", fpgaButton));
dataObject.Add(new JProperty(">vin_voltage", vinVoltage));
dataObject.Add(new JProperty(">vin_current", vinCurrent));
dataObject.Add(new JProperty(">6v_voltage", sixvVoltage));
dataObject.Add(new JProperty(">6v_current", sixvCurrent));
dataObject.Add(new JProperty(">6v_active", sixvActive));
dataObject.Add(new JProperty(">6v_faults", sixvFaults));
dataObject.Add(new JProperty(">5v_voltage", fivevVoltage));
dataObject.Add(new JProperty(">5v_current", fivevCurrent));
dataObject.Add(new JProperty(">5v_active", fivevActive));
dataObject.Add(new JProperty(">5v_faults", fivevFaults));
dataObject.Add(new JProperty(">3v3_voltage", threeThreevVoltage));
dataObject.Add(new JProperty(">3v3_current", threeThreevCurrent));
dataObject.Add(new JProperty(">3v3_active", threeThreevActive));
dataObject.Add(new JProperty(">3v3_faults", threeThreevFaults));
jo.Add("data", dataObject);
string message = JsonConvert.SerializeObject(jo);
ws.Send(message);
}
// Update is called once per frame
void Update()
{
if (encoder)
{
int counts = encoder.Counts;
// compute velocity.Position already figured by encoder.
encoderPosition = counts;
// Compute velocity as change in position. Delta ticks /time in seconds / 10 to get time per 100 mSec
encoderVelocity = ((counts - lastEncoderValue)) / (Time.deltaTime) / 10.0f;
lastEncoderValue = counts;
}
supplyCurrent = Mathf.Abs((float)percentOutput) * 30 * Random.Range(0.95f, 1.05f);
busVoltage = 12.0 - (percentOutput * percentOutput) * 0.75 * Random.Range(0.95f, 1.05f);
// Send encoder data
Newtonsoft.Json.Linq.JObject jo = new JObject();
jo.Add(new JProperty("type", "SimDevice"));
jo.Add(new JProperty("device", $"Talon SRX[{Id}]/Encoder"));
Newtonsoft.Json.Linq.JObject dataObject = new JObject();
dataObject.Add(new JProperty(">position", encoderPosition));
dataObject.Add(new JProperty(">velocity", encoderVelocity));
jo.Add("data", dataObject);
string message = JsonConvert.SerializeObject(jo);
ws.Send(message);
// Debug.Log($"talon encoder data sent is {message}");
jo = new JObject();
jo.Add(new JProperty("type", "SimDevice"));
jo.Add(new JProperty("device", $"Talon SRX[{Id}]"));
dataObject = new JObject();
dataObject.Add(new JProperty(">busVoltage", busVoltage));
dataObject.Add(new JProperty(">supplyCurrent", supplyCurrent));
// dataObject.Add(new JProperty(">motorCurrent", motorCurrent));
jo.Add("data", dataObject);
message = JsonConvert.SerializeObject(jo);
ws.Send(message);
// wpk future - add support for DutyCycle,
}
// Update is called once per frame
void Update()
{
if (ws)
{
Newtonsoft.Json.Linq.JObject jo = new JObject();
jo.Add(new JProperty("type", "AI"));
jo.Add(new JProperty("device", $"{PortNumber}"));
Newtonsoft.Json.Linq.JObject dataObject = new JObject();
dataObject.Add(new JProperty(">voltage", voltage));
jo.Add("data", dataObject);
string message = JsonConvert.SerializeObject(jo);
ws.Send(message);
}
}
// Update is called once per frame
void Update()
{
if (ws)
{
Newtonsoft.Json.Linq.JObject jo = new JObject();
jo.Add(new JProperty("type", "DIO"));
jo.Add(new JProperty("device", $"{EncoderNumber}"));
Newtonsoft.Json.Linq.JObject dataObject = new JObject();
dataObject.Add(new JProperty(">count", count));
jo.Add("data", dataObject);
string message = JsonConvert.SerializeObject(jo);
ws.Send(message);
}
}
// Update is called once per frame
void Update()
{
if (ws)
{
Newtonsoft.Json.Linq.JObject jo = new JObject();
jo.Add(new JProperty("type", "PCM"));
jo.Add(new JProperty("device", $"{PCMNumber}"));
Newtonsoft.Json.Linq.JObject dataObject = new JObject();
dataObject.Add(new JProperty(">current", current));
dataObject.Add(new JProperty(">on", isOn));
dataObject.Add(new JProperty(">pressure_switch", pressureSwitch));
jo.Add("data", dataObject);
string message = JsonConvert.SerializeObject(jo);
ws.Send(message);
}
}
// Update is called once per frame
void Update()
{
if (ws)
{
Newtonsoft.Json.Linq.JObject jo = new JObject();
jo.Add(new JProperty("type", "Joystick"));
jo.Add(new JProperty("device", JoystickNumber.ToString()));
Newtonsoft.Json.Linq.JObject dataObject = new JObject();
double[] axisValues = new double[NumAxes];
for (int i = 0; i < AxisName.Length; i++)
{
if (AxisName[i].Trim() != "")
{
axisValues[i] = Input.GetAxis(AxisName[i]);
}
else
{
axisValues[i] = 0.0;
}
}
dataObject.Add(new JProperty(">axes", axisValues));
bool[] buttonValues = new bool[NumButtons];
for (int i = 0; i < ButtonName.Length; i++)
{
if (ButtonName[i].Trim() != "")
{
buttonValues[i] = Input.GetAxis(ButtonName[i]) > 0;
}
else
{
buttonValues[i] = false;
}
}
dataObject.Add(new JProperty(">buttons", buttonValues));
jo.Add("data", dataObject);
string message = JsonConvert.SerializeObject(jo);
ws.Send(message);
}
}
// Update is called once per frame
void Update()
{
// If its an input to the Roborio (i.e.,output from the sim)
if (isInput)
{
if (ws)
{
Newtonsoft.Json.Linq.JObject jo = new JObject();
jo.Add(new JProperty("type", "DIO"));
jo.Add(new JProperty("device", $"{PortNumber}"));
Newtonsoft.Json.Linq.JObject dataObject = new JObject();
dataObject.Add(new JProperty("<>value", currentValue));
jo.Add("data", dataObject);
string message = JsonConvert.SerializeObject(jo);
ws.Send(message);
}
}
}
// Update is called once per frame
void Update()
{
// In unity, the axis normal to the ground is the Y axis.
angle = this.transform.rotation.eulerAngles.y;
rate = (angle - lastAngle) / Time.deltaTime;
lastAngle = angle;
// Send encoder data
Newtonsoft.Json.Linq.JObject jo = new JObject();
jo.Add(new JProperty("type", DeviceType));
jo.Add(new JProperty("device", deviceName));
Newtonsoft.Json.Linq.JObject dataObject = new JObject();
dataObject.Add(new JProperty(">angle_x", this.angle));
dataObject.Add(new JProperty(">rate_x", this.rate));
jo.Add("data", dataObject);
string message = JsonConvert.SerializeObject(jo);
WebSocketInterface.Send(message);
}
// Update is called once per frame
void Update()
{
if (Body)
{
// In unity, the axis normal to the ground is the Y axis.
yaw = AdjustedAngle(this.transform.rotation.eulerAngles.y);
pitch = AdjustedAngle(this.transform.rotation.eulerAngles.x);
roll = AdjustedAngle(this.transform.rotation.eulerAngles.z);
rate = Mathf.Rad2Deg * Body.angularVelocity.y;
compassHeading = this.transform.rotation.eulerAngles.y;
fusedHeading = this.transform.rotation.eulerAngles.y;
lastYaw = yaw;
Vector3 linearWorldAccel = (Body.velocity - lastVelocity) / Time.deltaTime;
accelX = $"{linearWorldAccel.x:0.000}";
accelY = $"{linearWorldAccel.y:0.000}";
accelZ = $"{linearWorldAccel.z:0.000}";
lastVelocity = Body.velocity;
// Send encoder data
Newtonsoft.Json.Linq.JObject jo = new JObject();
jo.Add(new JProperty("type", DeviceType));
jo.Add(new JProperty("device", deviceName));
Newtonsoft.Json.Linq.JObject dataObject = new JObject();
dataObject.Add(new JProperty(">Yaw", yaw));
dataObject.Add(new JProperty(">Pitch", pitch));
dataObject.Add(new JProperty(">Roll", roll));
dataObject.Add(new JProperty(">Rate", rate));
dataObject.Add(new JProperty(">CompassHeading", compassHeading));
dataObject.Add(new JProperty(">FusedHeading", fusedHeading));
// The following code maps from unity axes to NavX axes.
dataObject.Add(new JProperty(">LinearWorldAccelX", linearWorldAccel.x));
dataObject.Add(new JProperty(">LinearWorldAccelY", linearWorldAccel.z));
dataObject.Add(new JProperty(">LinearWorldAccelZ", linearWorldAccel.y));
jo.Add("data", dataObject);
string message = JsonConvert.SerializeObject(jo);
WebSocketInterface.Send(message);
}
}
