void Start()
{
//define objects
Ball = gameObject.transform.Find("Ball 1");
Cursor = gameObject.transform.Find("Cursor");
Grip_pos = gameObject.transform.Find("Grip_pos");
Destination = gameObject.transform.Find("Destination");
Point1 = gameObject.transform.Find("Position reference/Point1");
Point2 = gameObject.transform.Find("Position reference/Point2");
Point3 = gameObject.transform.Find("Position reference/Point3");
Segment_1 = gameObject.transform.Find("Segment 1");
Segment_2 = gameObject.transform.Find("Segment 1/Segment 2");
Segment_3 = gameObject.transform.Find("Segment 1/Segment 2/Segment 3");
Segment_4 = gameObject.transform.Find("Segment 1/Segment 2/Segment 3/Segment 4");
Hinge_1 = gameObject.transform.Find("Segment 1/Hinge 1");
Hinge_2 = gameObject.transform.Find("Segment 1/Segment 2/Hinge 2");
Hinge_3 = gameObject.transform.Find("Segment 1/Segment 2/Segment 3/Hinge 3");
Hinge_4 = gameObject.transform.Find("Segment 1/Segment 2/Segment 3/Segment 4/Hinge 4");
Grip_L = gameObject.transform.Find("Segment 1/Segment 2/Segment 3/Segment 4/L2_grip_L");
Grip_R = gameObject.transform.Find("Segment 1/Segment 2/Segment 3/Segment 4/L2_grip_R");
//scaling
//epsilon = 0.000001f * transform.localScale.x;
int_speed = 0.1f;
int_speed = int_speed * transform.localScale.x;//scale speed with robot size
//calculate parameters
l1 = Point2.position.y - Point1.position.y; //calcuate the arm length
l2 = Point3.position.y - Point2.position.y; //calcuate the arm length
r_bound = l1 + l2; //calculate max reach and set boundary value
//set initial condition
pickup = 0;
forward = 0; //start with the first trajectory
attached = 0; //ball is not picked up by robot end effector;
at_dest = 0;
speed = int_speed; //starting speed
activate = 0;
grid = GameObject.Find("8x8 Grid Step").gameObject.GetComponent <GridNavigationController>();
//move robot to the starting position
Grip_pos.position = Destination.position;; //start from bin
move_robot();
}
// Controller References (Implementation Specific)
// Modify parts of the controller script on those objects
// start from Unity3d
public void Start()
{
init();
grid = GameObject.Find("8x8 Grid Step").gameObject.GetComponent <GridNavigationController>();
timingBar = GameObject.Find("Timing Bar").gameObject.GetComponent <TimingBarController>();
}
