bool TriggerReset(SetBool.Request req, ref SetBool.Response resp)
 {
     Debug.Log("reset orientation service!");
     droneController.TriggerReset();
     droneController.ApplyMotorForce(Vector3.zero);
     droneController.ApplyMotorTorque(Vector3.zero);
     return(true);
 }
 bool ClearPathService(SetBool.Request req, ref SetBool.Response resp)
 {
     Debug.Log("clear path service!");
     PathPlanner.Clear();
     resp.message = "";
     resp.success = true;
     return(true);
 }
 bool ConstrainTorqueX(SetBool.Request req, ref SetBool.Response resp)
 {
     Debug.Log("constrain_torque_x service!");
     droneController.ConstrainTorqueX = req.data;
     resp.message = droneController.ConstrainTorqueX.ToString();
     resp.success = true;
     return(true);
 }
Ejemplo n.º 4
0
 void _SetGravity()
 {
     SetBool.Request  req  = new SetBool.Request();
     SetBool.Response resp = new SetBool.Response();
     req.data = _useGravity;
     if (gravityService.call(req, ref resp))
     {
         Debug.Log("gravity service called: " + _useGravity);
     }
 }
    bool ConstrainTorqueZ(SetBool.Request req, ref SetBool.Response resp)
    {
        Debug.Log("constrain_torque_z service!");
        droneController.ConstrainTorqueZ = req.data;
        resp.message = droneController.ConstrainTorqueZ.ToString();
        resp.success = true;

//		droneController.TriggerReset ();
        droneController.ApplyMotorForce(Vector3.zero);
        droneController.ApplyMotorTorque(Vector3.zero);

        return(true);
    }
    bool GravityService(SetBool.Request req, ref SetBool.Response resp)
    {
        Debug.Log("gravity service!");
        droneController.UseGravity = req.data;
        resp.message = droneController.UseGravity.ToString();
        resp.success = true;

//		droneController.TriggerReset ();
        droneController.ApplyMotorForce(Vector3.zero);
        droneController.ApplyMotorTorque(Vector3.zero);

        return(true);
    }
Ejemplo n.º 7
0
    void CallReset()
    {
        if (!init)
        {
            return;
        }

        SetBool.Request  req  = new SetBool.Request();
        SetBool.Response resp = new SetBool.Response();
        if (resetService.call(req, ref resp))
        {
            Debug.Log("reset called!");
        }
    }