// Update is called once per frame
void Update()
{
//Make Sphero change color every 30 frames
if (counter == 0)
{
RKUNBridge._RKUNRGB(1.0f, 0.0f, 0.0f);
}
else if (counter == 30)
{
RKUNBridge._RKUNRGB(0.0f, 1.0f, 0.0f);
}
else if (counter == 60)
{
RKUNBridge._RKUNRGB(0.0f, 0.0f, 1.0f);
}
counter++;
if (counter == 90)
{
counter = 0;
}
}
// Update is called once per frame
void Update()
{
reAnchorJoystick();
int count = Input.touchCount;
if (count == 0)
{
ResetJoystick();
}
else
{
for (int i = 0; i < count; i++)
{
Touch touch = Input.GetTouch(i);
Vector2 guiTouchPos = touch.position - guiTouchOffset;
bool shouldLatchFinger = false;
if (gui.HitTest(touch.position))
{
shouldLatchFinger = true;
}
// Latch the finger if this is a new touch
if (shouldLatchFinger && (lastFingerId == -1 || lastFingerId != touch.fingerId))
{
lastFingerId = touch.fingerId;
}
if (lastFingerId == touch.fingerId)
{
// Change the location of the joystick graphic to match where the touch is
Vector2 clampedPosition;
clampedPosition.x = Mathf.Clamp(guiTouchPos.x /* - (gui.pixelInset.width * 0.25f)*/, guiBoundary.min.x, guiBoundary.max.x);
clampedPosition.y = Mathf.Clamp(guiTouchPos.y /* - (gui.pixelInset.height * 0.25f)*/, guiBoundary.min.y, guiBoundary.max.y);
gui.pixelInset = new Rect(clampedPosition.x, clampedPosition.y, gui.pixelInset.width, gui.pixelInset.height);
if (touch.phase == TouchPhase.Ended || touch.phase == TouchPhase.Canceled)
{
ResetJoystick();
}
}
}
}
// Get a value between -1 and 1 based on the joystick graphic location
position.x = (gui.pixelInset.x + guiTouchOffset.x - guiCenter.x) / guiTouchOffset.x;
position.y = (gui.pixelInset.y + guiTouchOffset.y - guiCenter.y) / guiTouchOffset.y;
// Adjust for dead zone
var absoluteX = Mathf.Abs(position.x);
var absoluteY = Mathf.Abs(position.y);
if (absoluteX < deadZone.x)
{
// Report the joystick as being at the center if it is within the dead zone
position.x = 0;
}
else if (normalize)
{
// Rescale the output after taking the dead zone into account
position.x = Mathf.Sign(position.x) * (absoluteX - deadZone.x) / (1 - deadZone.x);
}
if (absoluteY < deadZone.y)
{
// Report the joystick as being at the center if it is within the dead zone
position.y = 0;
}
else if (normalize)
{
// Rescale the output after taking the dead zone into account
position.y = Mathf.Sign(position.y) * (absoluteY - deadZone.y) / (1 - deadZone.y);
}
Vector2 inputVector = position;
float heading = Mathf.Atan2(inputVector.y, 0.0f - inputVector.x);
float velocity = inputVector.magnitude;
//Commented out for weird Sphero v2 calibration
heading -= Mathf.PI / 2.0f;
if (heading < 0.0f)
{
heading += 2.0f * Mathf.PI;
}
float degrees = Mathf.Rad2Deg * heading;
//Include the heading offset for auto-heading adjust
/*var headingDiff : float = RKUNBridge.s_calibrateGyroOffset - Input.gyro.attitude.eulerAngles.z;
* degrees += headingDiff + RKUNBridge.s_calibrateOffset;*/
while (degrees < 0.0f)
{
degrees += 360.0f;
}
while (degrees > 359.0f)
{
degrees -= 360.0f;
}
#if !UNITY_EDITOR
velocity = velocity * velocityScale;
if (velocity > velocityScale)
{
velocity = velocityScale;
}
if (velocity > 0.0f)
{
RKUNBridge._RKUNRoll((int)degrees, velocity);
stopped = false;
lastHeading = degrees;
}
else if (velocity == 0.0f && stopped == false)
{
stopped = true;
RKUNBridge._RKUNRoll((int)lastHeading, 0.0f);
}
#endif
}
// Use this for initialization
void Start()
{
RKUNBridge._RKUNSetupRobotConnection();
}
