private static void startMov1(object source, System.Timers.ElapsedEventArgs e)
{
DynaLinkHS.CmdTransparentControl(0.2f, 0.2f, 1.0f, 1.0f, 10.0f, 10.0f, 10.0f, 10.0f);
DynaLinkHS.CmdServoOff();
SetYaml.LoadTaskInfo();// load .yaml file
print("初始化完成，实验开始");
// first block set
RunFSM.currState = RunFSM.GameState_Enum.STATE_BLOCKSET;
}
public static void Break()
{
string blockName = SetYaml.taskNames[blockNum];
//save sEMG
string fileNamesemg = SetYaml.subjectName + "_" + blockName + "_" + GlobalVar.sEMGCSVNAME + "_" + Convert.ToString(trials) + ".csv";
string csvfullemg = System.Environment.CurrentDirectory + "\\" + GlobalVar.expFolderName + "\\" + fileNamesemg;
if (RunFSM.EMG.IsConnected())
{
if (isEMGRecording == false)
{
RunFSM.EMG.StopRecording(csvfullemg);
isEMGRecording = true;
}
}
if (trials >= SetYaml.trialNum)
{
timeLine += Time.deltaTime;
csvContent.AppendLine((float)timeLine + "," + trials + "," + "TrialBreak" + "," + DynaLinkHS.StatusRobot.PositionDataJoint1 + "," + DynaLinkHS.StatusRobot.PositionDataJoint2);
//save kinematics
string fileName = SetYaml.subjectName + "_" + blockName + "_" + GlobalVar.CSVNAME + ".csv";
string csvfullfilename = System.Environment.CurrentDirectory + "\\" + GlobalVar.expFolderName + "\\" + fileName;
File.WriteAllText(csvfullfilename, "Time,Trial,State,PositionX,PositionY\n");
File.AppendAllText(csvfullfilename, csvContent.ToString());
// finish 4 blocks
if (blockNum >= 3)
{
Application.Quit();
}
else
{
RunFSM.currState = RunFSM.GameState_Enum.STATE_BLOCKSET;
blockTimer = 5f;
}
}
else
{
timeLine += Time.deltaTime;
csvContent.AppendLine((float)timeLine + "," + trials + "," + "TrialBreak" + "," + DynaLinkHS.StatusRobot.PositionDataJoint1 + "," + DynaLinkHS.StatusRobot.PositionDataJoint2);
breakTimer -= Time.deltaTime; // break timer --
if (breakTimer <= 0f)
{
DynaLinkHS.CmdServoOff();
DynaLinkHS.CmdTransparentControl(0.2f, 0.2f, 1.0f, 1.0f, 10.0f, 10.0f, 10.0f, 10.0f);
// next trial set
isCollisionOn = false;
isCollisionOff = false;
m2MoveTimer = 5f;
RunFSM.currState = RunFSM.GameState_Enum.STATE_CMD2ROBOT;
}
}
}
// Use this for initialization
void Start()
{
DynaLinkHS.CmdTransparentControl(5f, 5f, 10f, 10f, 10f, 10f, 10f, 10f);
//DynaLinkHS.CmdServoOff();
///*
// Initiate Hand Effector Position
///*
screenSize = Camera.main.ScreenToWorldPoint(new Vector2(Screen.width, Screen.height)); // 尺寸的一半
print(screenSize); // screen size
float M2_SIZE_X = (M2_AXIS_X[1] - M2_AXIS_X[0]) / 2;
float M2_SIZE_Y = (M2_AXIS_Y[1] - M2_AXIS_Y[0]) / 2;
xOffset = (screenSize.x) / M2_SIZE_X;
yOffset = (screenSize.y) / M2_SIZE_Y;
DynaLinkHS.CmdPassiveMovementControl((M2_AXIS_X[1] + M2_AXIS_X[0]) / 2, (M2_AXIS_Y[1] + M2_AXIS_Y[0]) / 2, (float)0.05);
///*
// Initiate Control Mode(mass/damping/spring)
/// for M2, the parameters are
/// - origin/target position x [原始/目标位置 x 轴] (type : float, unit : m, range : )
/// - origin/target position y [原始/目标位置 y 轴] (type : float, unit : m, range : )
/// - M (mass) x [模拟质量 x 轴] (type : float, unit : kg, range : )
/// - M (mass) y [模拟质量 y 轴] (type : float, unit : kg, range : )
/// - B (damping) x [模拟阻尼 x 轴] (type : float, unit : N/(m/s), range : )
/// - B (damping) y [模拟阻尼 y 轴] (type : float, unit : N/(m/s), range : )
/// - K (spring) x [模拟弹簧 x 轴] (type : float, unit : N/m, range : )
/// - K (spring) y [模拟弹簧 y 轴] (type : float, unit : N/m, range : )
///*
///*
/// Renew/Load .yaml
///*
//SetYaml.IniTaskInfo();// initiate .yaml
SetYaml.LoadTaskInfo();// load .yaml
timerStart = new Timer();
timerStart.Interval = 10000; //Wait for 10 seconds
timerStart.Elapsed += GameStart; //Hook up the elapsed event for the timer
timerStart.AutoReset = false; //Have the timer fire repeated events(true is the default)
timerStart.Enabled = false;
timerStart.Start();
}