private void SetupDrives(uint side, float phaseTarget, float elapsedSeconds_reciprocal, float rpmSide)
{
for (uint ii = 0; ii < phaseCount; ii++) //column
{
for (uint iii = 0; iii < driveIdCount; iii++) //id
{
uint indexDrive = IndexDrive(side, ii, iii);
DriveConfig drive = drives[indexDrive];
//calculate target angle based on phase
float //0..2pi
target = NormaliseRadians_2Pi(phaseTarget - (ii * phaseSize));
float //-pi..pi
error = NormaliseRadians_Pi(NormaliseRadians_Pi(drives[indexDrive].TrueAngle) - target);
float
correction = status.driveControllers[indexDrive].Update(error, elapsedSeconds_reciprocal);
float
velocity = MyMath.Clamp(rpmSide + correction, 0.0f, rpmMax);
MotorStator.SetVelocity(drive.drive,
drive.inverted ? -velocity : velocity);
}
}
}
public ResultBean DriveItem(int id)
{
Console.WriteLine(id);
DriveConfig driveConfig = systemManager.GetDriveConfigById(id);
return(ResultBean.Success(driveConfig));
}
public void AddDrive(DriveConfig drive)
{
if (!_drives.TryAdd(drive.Root[0], new DriveMounter(_user.Username, drive, _logger)))
{
throw new InvalidOperationException($"Drive already exists: {drive.Root}");
}
}
void Start()
{
joint = GetComponent <HingeJoint>();
config = GetComponentInParent <DriveConfig>();
if (config != null)
{
config.onConfigChange.AddListener(OnConfigModified);
OnConfigModified(config);
}
}
public bool EditDrive(DriveConfig driveConfig)
{
using (var context = new CustomZfileDbContext())
{
Drive d = context.drive.Find(driveConfig.id);
if (d == null)
{
return(false);
}
d.name = driveConfig.name;
context.drive.Update(d);
context.SaveChanges();
}
return(true);
}
public ResultBean EditDrive(DriveConfig driveConfig)
{
if (driveConfig.id == null)
{
int userId;
if (int.TryParse(SystemManager.Decrypt(HttpContext.Request.Cookies["userId"]), out userId))
{
systemManager.SaveNewDrive(driveConfig.name, userId);
return(ResultBean.Success());
}
}
else
{
if (systemManager.EditDrive(driveConfig))
{
return(ResultBean.Success());
}
}
return(ResultBean.Error("未知错误"));
}
void OnConfigModified(DriveConfig config)
{
if (joint == null || config == null)
{
return;
}
// set joint limits/params bsaed on public vars
var limits = joint.limits;
limits.min = -config.steeringMaxAngle;
limits.max = config.steeringMaxAngle;
joint.limits = limits;
joint.useLimits = true;
var hingeSpring = joint.spring;
hingeSpring.spring = config.steeringMaxTorque;
hingeSpring.damper = config.steeringDamper;
hingeSpring.targetPosition = 0;
joint.spring = hingeSpring;
joint.useSpring = true;
}
void Start()
{
rb = GetComponent <Rigidbody>();
config = GetComponentInParent <DriveConfig>();
}
public DriveMounter(string username, DriveConfig driveConfig, ILogger logger)
{
_username = username;
_config = driveConfig;
_logger = logger;
}
