// Use this for initialization
void Start()
{
currentMode = MotorMode.isTrackingHand;
enc = gameObject.GetComponent <EncoderController>();
serialPort = gameObject.GetComponent <SerialConnector>();
serialPort.Connect(portNumber);
enc.resetCount(InitialStringLength + 1000);
records = new List <SpeedRecord>();
isPulling = false;
}
// Update is called once per frame
void Update()
{
switch (currentMode)
{
case MotorMode.isTrackingHand:
break;
case MotorMode.isShowingResistance:
float pulledStringLength = -enc.getTotalStringLength();
SpeedRecord sr; // = new SpeedRecord();
sr.speed = -enc.getSpeed(); // pull is negative, but we want positive value here
if (sr.speed < 0)
{
enc.resetCount(0);
}
sr.timestamp = Time.fixedTime - timeZero;
sr.length = pulledStringLength;
records.Add(sr);
// Debug.Log("Pull Speed " + sr.speed + " Length " + pulledStringLength);
if (isPulling && pulledStringLength > 0.4f)
{
isPulling = false;
maxPullingSpeed = 0;
foreach (SpeedRecord r in records)
{
if (maxPullingSpeed < r.speed)
{
maxPullingSpeed = r.speed;
}
}
foreach (SpeedRecord r in records)
{
if (r.length == 0)
{
continue;
}
if (r.speed > maxPullingSpeed * 0.5f)
{
timeStartup = r.timestamp;
break;
}
}
timeTotal = records[records.Count - 1].timestamp;
//Debug.Log(timeStartup + " | " + timeTotal + " | " + maxPullingSpeed);
}
break;
case MotorMode.isRewinding:
break;
}
}
