private void GetBallBouncing()
{
for (int i = 0; i < 5; i++)
{
_strategies.Add(BallControlStrategyFactory.ContinuousBouncing(5, PIDTiltController.Instance));
_strategies.Add(BallControlStrategyFactory.ContinuousBouncingStrong(1, PIDTiltController.Instance));
}
}
private void Start()
{
_ballData = new BallData(
_ballDataDebugView,
_predictedPositionVisualizer,
_gradientDescentX,
_gradientDescentY,
_gradientDescentZ);
_strategies.Add(BallControlStrategyFactory.GoTo(0.01f));
_strategies.Add(BallControlStrategyFactory.GoTo(0.05f));
_strategies.Add(BallControlStrategyFactory.GoToWhenBallOnPlate(0.01f));
_strategies.Add(BallControlStrategyFactory.GoToWhenBallOnPlate(0.05f));
GetBallBouncing();
_strategies.Add(BallControlStrategyFactory.Continuous2StepBouncing(20, AnalyticalTiltController.Instance));
_strategies.Add(BallControlStrategyFactory.Continuous2StepBouncing(20, AnalyticalTiltController.Instance, new Vector2(40f, 0f)));
_strategies.Add(BallControlStrategyFactory.Continuous2StepBouncing(20, AnalyticalTiltController.Instance, new Vector2(0f, 0f)));
_strategies.Add(BallControlStrategyFactory.Continuous2StepBouncing(20, AnalyticalTiltController.Instance, new Vector2(-40f, 0f)));
_strategies.Add(BallControlStrategyFactory.Continuous2StepBouncing(20, AnalyticalTiltController.Instance, new Vector2(0f, 0f)));
_strategies.Add(BallControlStrategyFactory.Continuous2StepBouncing(20, AnalyticalTiltController.Instance, new Vector2(40f, 0f)));
_strategies.Add(BallControlStrategyFactory.Continuous2StepBouncing(20, AnalyticalTiltController.Instance, new Vector2(0f, 0f)));
_strategies.Add(BallControlStrategyFactory.Continuous2StepBouncing(20, AnalyticalTiltController.Instance, new Vector2(-40f, 0f)));
for (int i = 0; i < 5; i++)
{
_strategies.Add(
BallControlStrategyFactory.ContinuousBouncing(5, AnalyticalTiltController.Instance));
_strategies.Add(
BallControlStrategyFactory.ContinuousBouncingStrong(1, AnalyticalTiltController.Instance));
_strategies.Add(BallControlStrategyFactory.Balancing(0.05f, 8, Vector2.zero,
AnalyticalTiltController.Instance));
}
_strategies.Add(BallControlStrategyFactory.GoTo(0.01f));
_strategies.Add(BallControlStrategyFactory.GoTo(0.08f));
_strategies.Add(BallControlStrategyFactory.GoTo(0.05f));
GetBallBouncing();
_strategies.Add(BallControlStrategyFactory.ContinuousBouncing(20, AnalyticalTiltController.Instance));
for (int i = 0; i < 5; i++)
{
_strategies.Add(
BallControlStrategyFactory.ContinuousBouncing(5, AnalyticalTiltController.Instance));
_strategies.Add(
BallControlStrategyFactory.ContinuousBouncingStrong(1, AnalyticalTiltController.Instance));
_strategies.Add(
BallControlStrategyFactory.Balancing(0.05f, 8, Vector2.zero, AnalyticalTiltController.Instance));
}
_strategies.Add(BallControlStrategyFactory.GoTo(0.01f));
}
private void Start()
{
_ballData = new BallData(_velocityDebugView);
_ballControlStrategies.Add(BallControlStrategyFactory.GoTo(0.01f));
_ballControlStrategies.Add(BallControlStrategyFactory.GoTo(0.05f));
for (int i = 0; i < 5; i++)
{
_ballControlStrategies.Add(BallControlStrategyFactory.ContinuousBouncing(5));
_ballControlStrategies.Add(BallControlStrategyFactory.ContinuousBouncingStrong(1));
}
_ballControlStrategies.Add(BallControlStrategyFactory.ContinuousBouncing(10000));
for (int i = 0; i < 5; i++)
{
_ballControlStrategies.Add(BallControlStrategyFactory.ContinuousBouncing(5));
_ballControlStrategies.Add(BallControlStrategyFactory.ContinuousBouncingStrong(1));
_ballControlStrategies.Add(BallControlStrategyFactory.BalancingAtHeight(0.05f, 10));
}
_ballControlStrategies.Add(BallControlStrategyFactory.GoTo(0.01f));
_ballControlStrategies.Add(BallControlStrategyFactory.GoTo(0.08f));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(0f, 0f), 15));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateCircleBalancing(40f, 100));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(0f, 0f), 20));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(-40f, 0f), 20));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(40f, 0f), 20));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(0, 40f), 20));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(0, -40f), 20));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(-35, -35f), 20));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(35, 35f), 20));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(35, -35f), 20));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(-35, 35f), 20));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(0f, 0f), 20));
_ballControlStrategies.Add(BallControlStrategyFactory.GoTo(0.01f));
_ballControlStrategies.Add(BallControlStrategyFactory.GoTo(0.05f));
for (int i = 0; i < 5; i++)
{
_ballControlStrategies.Add(BallControlStrategyFactory.ContinuousBouncing(5));
_ballControlStrategies.Add(BallControlStrategyFactory.ContinuousBouncingStrong(1));
}
_ballControlStrategies.Add(BallControlStrategyFactory.ContinuousBouncing(20));
for (int i = 0; i < 5; i++)
{
_ballControlStrategies.Add(BallControlStrategyFactory.ContinuousBouncing(5));
_ballControlStrategies.Add(BallControlStrategyFactory.ContinuousBouncingStrong(1));
_ballControlStrategies.Add(BallControlStrategyFactory.BalancingAtHeight(0.05f, 10));
}
_ballControlStrategies.Add(BallControlStrategyFactory.GoTo(0.01f));
}
private void GetBallBouncing(Action action = null)
{
_strategies.Add(
BallControlStrategyFactory.Bouncing(5, PIDTiltController.Instance, action: action));
_strategies.Add(
BallControlStrategyFactory.BouncingStrong(1, PIDTiltController.Instance));
for (int i = 0; i < 4; i++)
{
_strategies.Add(BallControlStrategyFactory.Bouncing(5, PIDTiltController.Instance));
_strategies.Add(BallControlStrategyFactory.BouncingStrong(1, PIDTiltController.Instance));
}
}
private void CircleBouncing(int iterations = 1, Action action = null)
{
var angle = 0f;
var radius = 30f;
var numberOfSlices = 15;
var target = Vector2.zero;
for (int j = 0; j < iterations; j++)
{
for (int i = 0; i < numberOfSlices; i++)
{
angle = Mathf.PI * 2 * i / numberOfSlices;
target.x = Mathf.Cos(angle) * radius;
target.y = Mathf.Sin(angle) * radius;
_strategies.Add(
BallControlStrategyFactory.StepBouncing_Down(AnalyticalTiltController.Instance, target,
action: action));
_strategies.Add(
BallControlStrategyFactory.StepBouncing_Up(AnalyticalTiltController.Instance, target));
}
}
}
private void Start()
{
_ballData = new BallData(
_ballDataDebugView,
_predictedPositionVisualizer,
_gradientDescentX,
_gradientDescentY,
_gradientDescentZ);
_strategies.Add(BallControlStrategyFactory.GoTo(0.01f));
_strategies.Add(BallControlStrategyFactory.GoTo(0.05f));
_strategies.Add(BallControlStrategyFactory.GoToWhenBallOnPlate(0.01f));
_strategies.Add(BallControlStrategyFactory.GoToWhenBallOnPlate(0.05f));
GetBallBouncing(() =>
{
_onCheckPointPassedSubject.OnNext(1);
_machineStateView.Set("Get Ball Bouncing", MachineStateView.TiltControlType.PIDTiltController);
});
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
action: () => _machineStateView.Set("Two Step Bouncing",
MachineStateView.TiltControlType.AnalyticalTiltControl)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(40, AnalyticalTiltController.Instance,
action: () => _onCheckPointPassedSubject.OnNext(2)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
action: () => _onCheckPointPassedSubject.OnNext(3)));
CircleBouncing(10, () => _machineStateView.Set("Circle Bouncing",
MachineStateView.TiltControlType.AnalyticalTiltControl));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
new Vector2(40f, 0f), action: () => _machineStateView.Set("Two Step Bouncing",
MachineStateView.TiltControlType.AnalyticalTiltControl)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
new Vector2(0f, 0f)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
new Vector2(-40f, 0f)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
new Vector2(0f, 0f)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
new Vector2(40f, 0f)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
new Vector2(0f, 0f)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
new Vector2(-40f, 0f)));
for (int i = 0; i < 5; i++)
{
_strategies.Add(
BallControlStrategyFactory.Bouncing(5, AnalyticalTiltController.Instance));
_strategies.Add(
BallControlStrategyFactory.BouncingStrong(1, AnalyticalTiltController.Instance));
_strategies.Add(BallControlStrategyFactory.Balancing(0.05f, 8, Vector2.zero,
AnalyticalTiltController.Instance));
}
_strategies.Add(BallControlStrategyFactory.GoTo(0.01f));
_strategies.Add(BallControlStrategyFactory.GoTo(0.08f));
_strategies.Add(BallControlStrategyFactory.GoTo(0.05f));
GetBallBouncing();
_strategies.Add(BallControlStrategyFactory.Bouncing(20, AnalyticalTiltController.Instance));
for (int i = 0; i < 5; i++)
{
_strategies.Add(
BallControlStrategyFactory.Bouncing(5, AnalyticalTiltController.Instance));
_strategies.Add(
BallControlStrategyFactory.BouncingStrong(1, AnalyticalTiltController.Instance));
_strategies.Add(
BallControlStrategyFactory.Balancing(0.05f, 8, Vector2.zero, AnalyticalTiltController.Instance));
}
_strategies.Add(BallControlStrategyFactory.GoTo(0.01f));
}
