// Drive Switcher
public void DriveJoystick()
{
forward_joystick.SetActive(true);
forward_linear.gameObject.SetActive(false);
forward_manual.SetActive(false);
socket.SetAutoHeading(false, 0);
socket.SetForwardMotorsSpeed(0, 0);
drivemode = DriveMode.Joystick;
}
void DifferentialDrive(float x, float y)
{
float nMotPremixL = 0; // Motor (left) premixed output (-70..+70)
float nMotPremixR = 0; // Motor (right) premixed output (-70..+70)
nMotPremixL = (x >= 0) ? 70f : (70f + x);
nMotPremixR = (x >= 0) ? (70f - x) : 70f;
// Scale Drive output due to Joystick Y input (throttle)
nMotPremixL = nMotPremixL * y / 70f;
nMotPremixR = nMotPremixR * y / 70f;
// Now calculate pivot amount
// - Strength of pivot (nPivSpeed) based on Joystick X input
// - Blending of pivot vs drive (fPivScale) based on Joystick Y input
float nPivSpeed = x;
float fPivScale = (Mathf.Abs(y) > fPivYLimit) ? 0f : (1f - Mathf.Abs(y) / fPivYLimit);
// Calculate final mix of Drive and Pivot
float nMotMixL = ((1f - fPivScale) * nMotPremixL + fPivScale * (nPivSpeed)) / 70f;
float nMotMixR = ((1f - fPivScale) * nMotPremixR + fPivScale * (-nPivSpeed)) / 70f;
int left = (int)Mathf.Round(nMotMixL * 100f);
int right = (int)Mathf.Round(nMotMixR * 100f);
socket.SetForwardMotorsSpeed(right, left);
}
public void SliderChanged()
{
socket.SetForwardMotorsSpeed((int)slider.value, (int)slider.value);
}
public void SliderChanged()
{
socket.SetForwardMotorsSpeed((int)right.value, (int)left.value);
}