void Start()
{
_robotArm = GetComponent <RobotArm>();
_ik = GetComponent <RobotArmIK>();
_targetAngles = new TargetPositions();
_targetPositions = new List <PositionAndEndeffectorAngle>();
/*
* // look up/down
* _targetPositions.Add(new PositionAndEndeffectorAngle {
* Position = new Vector3(134f, 60f, 0f),
* EndeffectorAngle = Mathf.PI / 2f + 0.4f,
* ElbowUp = true
* });
*
* _targetPositions.Add(new PositionAndEndeffectorAngle {
* Position = new Vector3(144f, 94f, 0f),
* EndeffectorAngle = Mathf.PI / 2f,
* ElbowUp = true
* });
*
* _targetPositions.Add(new PositionAndEndeffectorAngle {
* Position = new Vector3(144f, 94f, 0f),
* EndeffectorAngle = Mathf.PI / 2f - 0.4f,
* ElbowUp = true
* });
*
* _targetPositions.Add(new PositionAndEndeffectorAngle {
* Position = new Vector3(144f, 94f, 0f),
* EndeffectorAngle = Mathf.PI / 2f + 0.4f,
* ElbowUp = true
* });
*/
// drill left
_targetPositions.Add(new PositionAndEndeffectorAngle {
Position = new Vector3(124f, 74f, 0f),
EndeffectorAngle = Mathf.PI / 2f,
ElbowUp = true
});
_targetPositions.Add(new PositionAndEndeffectorAngle {
Position = new Vector3(144f, 74f, 0f),
EndeffectorAngle = Mathf.PI / 2f,
ElbowUp = true
});
_targetPositions.Add(new PositionAndEndeffectorAngle {
Position = new Vector3(124f, 74f, 0f),
EndeffectorAngle = Mathf.PI / 2f,
ElbowUp = true
});
}
void Start()
{
_robotArmIK = GetComponent <RobotArmIK>();
_circle0 = Instantiate(_circlePrefab, _joint0.transform);
_circle1 = Instantiate(_circlePrefab, _joint1.transform);
_circle2 = Instantiate(_circlePrefab, _joint3.transform);
_circle3 = Instantiate(_circlePrefab, _joint3.transform);
_circle0.transform.localScale = Vector3.one * _robotArmIK.Link1 * 4;
_circle1.transform.localScale = Vector3.one * _robotArmIK.Link2 * 4;
_circle2.transform.localScale = Vector3.one * _robotArmIK.Link3 * 4;
_circle3.transform.localScale = Vector3.one * _robotArmIK.Link4 * 4;
}
