Beispiel #1
0
    void setAngle(bool lft, float angle, m3piComm m3piCtrl)
    {
        if (angle < 0)
        {
            lft = !lft;
        }
        angle = Mathf.Abs(angle);

//		setAngleHelp (m3piCtrl, ref angle, 21.0f, 6, 1, lft);
//		setAngleHelp (m3piCtrl, ref angle, 15.0f, 4, 1, lft);
//		setAngleHelp (m3piCtrl, ref angle, 8.0f, 1, 1, lft);

//		setAngleHelp (m3piCtrl, ref angle, 51.0f, 15, 2, lft);
//		setAngleHelp (m3piCtrl, ref angle, 35.0f, 10, 2, lft);
//		setAngleHelp (m3piCtrl, ref angle, 28f, 8, 2, lft);
//		setAngleHelp (m3piCtrl, ref angle, 20f, 6, 2, lft);
//		setAngleHelp (m3piCtrl, ref angle, 16f, 5, 2, lft);
//		setAngleHelp (m3piCtrl, ref angle, 8f, 3, 2, lft);
//		setAngleHelp (m3piCtrl, ref angle, 3.4f, 2, 2, lft);

        for (int i = 0; i < m3piCtrl.angleHelpArray.Length; i++)
        {
            setAngleHelp(m3piCtrl, ref angle,
                         m3piCtrl.angleHelpArray [i].angle, m3piCtrl.angleHelpArray [i].sp, m3piCtrl.angleHelpArray [i].wt, lft);
        }

        m3piCtrl.run2(Time.time);
    }
Beispiel #2
0
    void setAngle(bool lft, float angle, m3piComm m3piCtrl)
    {
        if (angle < 0)
        {
            lft = !lft;
        }
        angle = Mathf.Abs(angle);
        for (int i = 0; i < m3piCtrl.angleHelpArray.Length; i++)
        {
            setAngleHelp(m3piCtrl, ref angle, m3piCtrl.angleHelpArray [i].angle, m3piCtrl.angleHelpArray [i].sp, m3piCtrl.angleHelpArray [i].wt, lft);
        }
//		setAngleHelp (m3piCtrl, ref angle, 55.0f, 5, 2, lft);
//		setAngleHelp (m3piCtrl, ref angle, 44.0f, 3, 2, lft);
//		setAngleHelp (m3piCtrl, ref angle, 34.7f, 2, 2, lft);
//		setAngleHelp (m3piCtrl, ref angle, 24.7f, 5, 1, lft);
//		setAngleHelp (m3piCtrl, ref angle, 17.98f, 3, 1, lft);
//		setAngleHelp (m3piCtrl, ref angle, 9.6f, 1, 1, lft);
//		setAngleHelp (m3piCtrl, ref angle, 5.0f, 0, 1, lft);
//		setAngleHelp (m3piCtrl, ref angle, 51.0f, 15, 2, lft);
//		setAngleHelp (m3piCtrl, ref angle, 35.0f, 10, 2, lft);
//		setAngleHelp (m3piCtrl, ref angle, 28f, 8, 2, lft);
//		setAngleHelp (m3piCtrl, ref angle, 20f, 6, 2, lft);
//		setAngleHelp (m3piCtrl, ref angle, 16f, 5, 2, lft);
//		setAngleHelp (m3piCtrl, ref angle, 8f, 3, 2, lft);
//		setAngleHelp (m3piCtrl, ref angle, 3.4f, 2, 2, lft);
        m3piCtrl.run2(Time.time);
        //m_returnMsg = m3piCtrlB.m_returnMsg;
        //Debug.Log ("receive from m3pi:\t" + m_returnMsg);
    }
Beispiel #3
0
    void setSpeedWait(float dis, bool fw, m3piComm m3piCtrl)
    {
        for (int i = 0; i < m3piCtrl.posHelpArray.Length; i++)
        {
            setSpeedWaitHelp(m3piCtrl, ref dis,
                             m3piCtrl.posHelpArray [i].dis, m3piCtrl.posHelpArray [i].sp, m3piCtrl.posHelpArray [i].wt, fw);
        }

        m3piCtrl.run2(Time.time);
    }
Beispiel #4
0
    void setSpeedWait(float dis, bool fw, m3piComm m3piCtrl)
    {
        for (int i = 0; i < m3piCtrl.posHelpArray.Length; i++)
        {
            setSpeedWaitHelp(m3piCtrl, ref dis,
                             m3piCtrl.posHelpArray[i].dis, m3piCtrl.posHelpArray[i].sp, m3piCtrl.posHelpArray[i].wt, fw);
        }

        m3piCtrl.run2(Time.time);
        //m_returnMsg = m3piCtrlB.m_returnMsg;
        //Debug.Log ("receive from m3pi:\t" + m_returnMsg);
    }
Beispiel #5
0
    void setAngle(bool lft, float angle, m3piComm m3piCtrl)
    {
        if (angle < 0)
        {
            lft = !lft;
        }
        angle = Mathf.Abs(angle);

        for (int i = 0; i < m3piCtrl.angleHelpArray.Length; i++)
        {
            setAngleHelp(m3piCtrl, ref angle,
                         m3piCtrl.angleHelpArray [i].angle, m3piCtrl.angleHelpArray [i].sp, m3piCtrl.angleHelpArray [i].wt, lft);
        }

        m3piCtrl.run2(Time.time);
    }
Beispiel #6
0
    void setAngle(bool lft, float angle, m3piComm m3piCtrl)
    {
        if (angle < 0)
        {
            lft = !lft;
        }
        angle = Mathf.Abs(angle);

        for (int i = 0; i < m3piCtrl.angleHelpArray.Length; i++)
        {
            setAngleHelp(m3piCtrl, ref angle,
                         m3piCtrl.angleHelpArray[i].angle, m3piCtrl.angleHelpArray[i].sp, m3piCtrl.angleHelpArray[i].wt, lft);
        }

        m3piCtrl.run2(Time.time);
        //m_returnMsg = m3piCtrlB.m_returnMsg;
        //Debug.Log ("receive from m3pi:\t" + m_returnMsg);
    }
Beispiel #7
0
    void setSpeedWait(float dis, bool fw, m3piComm m3piCtrl)
    {
//		setSpeedWaitHelp (m3piCtrl, ref dis, 0.25f, 7, 8, fw);
//		setSpeedWaitHelp (m3piCtrl, ref dis, 0.13f, 6, 6, fw);
//		setSpeedWaitHelp (m3piCtrl, ref dis, 0.06f, 4, 3, fw);
//		setSpeedWaitHelp (m3piCtrl, ref dis, 0.022f, 3, 2, fw);

//		setSpeedWaitHelp (m3piCtrl, ref dis, 0.19f, 25, 3, fw);
//		setSpeedWaitHelp (m3piCtrl, ref dis, 0.167f, 20, 3, fw);
//		setSpeedWaitHelp (m3piCtrl, ref dis, 0.126f, 15, 3, fw);
//		setSpeedWaitHelp (m3piCtrl, ref dis, 0.093f, 10, 3, fw);
//		setSpeedWaitHelp (m3piCtrl, ref dis, 0.06f, 6, 3, fw);
//		setSpeedWaitHelp (m3piCtrl, ref dis, 0.033f, 3, 3, fw);

        for (int i = 0; i < m3piCtrl.posHelpArray.Length; i++)
        {
            setSpeedWaitHelp(m3piCtrl, ref dis,
                             m3piCtrl.posHelpArray [i].dis, m3piCtrl.posHelpArray [i].sp, m3piCtrl.posHelpArray [i].wt, fw);
        }

        m3piCtrl.run2(Time.time);
    }
Beispiel #8
0
    void setSpeedWait(float dis, bool fw, m3piComm m3piCtrl)
    {
//		setSpeedWaitHelp (m3piCtrl, ref dis, 0.21f, 20, 3, fw);
//		setSpeedWaitHelp (m3piCtrl, ref dis, 0.17f, 15, 3, fw);
//		setSpeedWaitHelp (m3piCtrl, ref dis, 0.11f, 15, 2, fw);
//		setSpeedWaitHelp (m3piCtrl, ref dis, 0.074f, 10, 2, fw);
//		setSpeedWaitHelp (m3piCtrl, ref dis, 0.04f, 5, 2, fw);
        for (int i = 0; i < m3piCtrl.posHelpArray.Length; i++)
        {
            setSpeedWaitHelp(m3piCtrl, ref dis, m3piCtrl.posHelpArray [i].dis, m3piCtrl.posHelpArray [i].sp, m3piCtrl.posHelpArray [i].wt, fw);
        }

//		setSpeedWaitHelp (m3piCtrl, ref dis, 0.19f, 25, 3, fw);
//		setSpeedWaitHelp (m3piCtrl, ref dis, 0.167f, 20, 3, fw);
//		setSpeedWaitHelp (m3piCtrl, ref dis, 0.126f, 15, 3, fw);
//		setSpeedWaitHelp (m3piCtrl, ref dis, 0.093f, 10, 3, fw);
//		setSpeedWaitHelp (m3piCtrl, ref dis, 0.06f, 6, 3, fw);
//		setSpeedWaitHelp (m3piCtrl, ref dis, 0.033f, 3, 3, fw);

        m3piCtrl.run2(Time.time);
        //m_returnMsg = m3piCtrlB.m_returnMsg;
        //Debug.Log ("receive from m3pi:\t" + m_returnMsg);
    }
Beispiel #9
0
    // forward 0.05 0.025 0.02
    // left 15 6 3
    // Update is called once per frame
    void Update()
    {
        if (Input.GetKeyDown(KeyCode.F))
        {
            //m_inst.forwardTest (roundTest);
            if (Utility.getInst().checkRtnMsg2(m_inst))
            {
                m_inst.clear();
                m_inst.setSpeed(speed);
                m_inst.setWaitTime(waitTime);
                m_inst.forward();
                m_inst.run2();
                Debug.Log("speed:\t" + speed + "\twait:\t" + waitTime);

                Debug.Log(Vector3.Distance(pos, this.transform.position).ToString("F8"));
                Debug.Log("rot:" + Quaternion.Angle(rot, this.transform.rotation).ToString("F8"));
                rot = this.transform.rotation;
                pos = this.transform.position;
            }
            else
            {
                print("busy");
            }
        }
        if (Input.GetKeyDown(KeyCode.B))
        {
            //	m_inst.backwardTest (roundTest);
            //	Debug.Log (roundTest);
            if (Utility.getInst().checkRtnMsg2(m_inst))
            {
                m_inst.clear();
                m_inst.setSpeed(speed);
                m_inst.setWaitTime(waitTime);
                m_inst.backward();
                m_inst.run2();
                Debug.Log("speed:\t" + speed + "\twait:\t" + waitTime);

                Debug.Log(Vector3.Distance(pos, this.transform.position).ToString("F8"));
                Debug.Log("rot:" + Quaternion.Angle(rot, this.transform.rotation).ToString("F8"));
                rot = this.transform.rotation;
                pos = this.transform.position;
            }
        }
        if (Input.GetKeyDown(KeyCode.L))
        {
            if (Utility.getInst().checkRtnMsg2(m_inst))
            {
                m_inst.clear();
                m_inst.setSpeed(speed);
                m_inst.setWaitTime(waitTime);
                m_inst.left();
                m_inst.run2(Time.time);
//				// test threads
//				Thread receiveThread = new Thread (m_inst.receive);
//				receiveThread.Start ();

                Debug.Log("speed:\t" + speed + "\twait:\t" + waitTime);
                Debug.Log(Quaternion.Angle(rot, this.transform.rotation).ToString("F8"));
                pos = this.transform.position;
                rot = this.transform.rotation;
            }
            else
            {
                print("busy");
            }
        }
        if (Input.GetKeyDown(KeyCode.R))
        {
            if (Utility.getInst().checkRtnMsg2(m_inst))
            {
                m_inst.clear();
                m_inst.setSpeed(speed);
                m_inst.setWaitTime(waitTime);
                m_inst.right();
                m_inst.run2();
                Debug.Log("speed:\t" + speed + "\twait:\t" + waitTime);
                Debug.Log(Quaternion.Angle(rot, this.transform.rotation).ToString("F8"));
                pos = this.transform.position;
                rot = this.transform.rotation;
            }
        }
        if (Input.GetKeyDown(KeyCode.S))
        {
            m_inst.stop();
            m_inst.run2();
            //Debug.Log ("speed:\t" + speed + "\twait:\t" + waitTime);
            //Debug.Log(Quaternion.Angle(rot,this.transform.rotation).ToString("F8"));
            //pos = this.transform.position;
            //rot = this.transform.rotation;
        }
        if (Input.GetKeyDown(KeyCode.P))
        {
            Debug.Log("speed:\t" + speed + "\twait:\t" + waitTime);
            Debug.Log("pos:\t" + this.transform.position.ToString("F8"));
            Debug.Log("rot:\t" + this.transform.rotation.ToString("F8"));
        }
//		if (Input.GetKeyDown (KeyCode.Z)) {
//			m_inst.left ();
//			Debug.Log (roundTest);
//			//Debug.Log (Vector3.Distance(pos,this.transform.position).ToString("F8"));
//			Debug.Log(Quaternion.Angle(rot,this.transform.rotation).ToString("F8"));
//			pos = this.transform.position;
//			rot = this.transform.rotation;
//		}
//		if (Input.GetKeyDown (KeyCode.Y)) {
//			m_inst.right ();
//			Debug.Log (roundTest);
//			//Debug.Log (Vector3.Distance(pos,this.transform.position).ToString("F8"));
//			Debug.Log(Quaternion.Angle(rot,this.transform.rotation).ToString("F8"));
//			pos = this.transform.position;
//			rot = this.transform.rotation;
//		}
//		if (Input.GetKeyDown (KeyCode.H)) {
//			m_inst.high ();
//			Debug.Log ("high");
//		}
//		if (Input.GetKeyDown (KeyCode.M)) {
//			m_inst.median ();
//			Debug.Log ("median");
//		}
//		if (Input.GetKeyDown (KeyCode.L)) {
//			m_inst.low ();
//			Debug.Log ("low");
//		}

        // test receive data
        if (m_inst.m_bRtn)
        {
            if (m_inst.m_returnMsg.Length > 0)
            {
                print(m_inst.m_returnMsg);
            }
            m_inst.m_returnMsg = "";
        }
    }