public void Update() { ///<summary> /// configure the robot arm /// </summary> /// if (this.name == "CuGo1") { if (Input.GetKeyDown(KeyCode.Space)) { DetectAllTargets(); SetTargetsInLayers(allTargets.ToArray()); // from this always use targetsOnL1,L2,L3 list ObserveStateBeforeMovementandAssign(allTargets.ToArray()); //PrintLookUpTable(L1lookupTable); //PrintLookUpTable(L2lookupTable); //PrintLookUpTable(L3lookupTable); } if (Input.GetKeyDown(KeyCode.R)) { for (int i = 0; i < joints.Count; i++) { joints[i].resetRot = true; } // flip the rotation value and send angleVal *= -1; udpClient.InitiateTimer(1); // 0 for forward 1 for backword } } else if (this.name == "CuGo2") { if (Input.GetKeyDown(KeyCode.S)) { DetectAllTargets(); SetTargetsInLayers(allTargets.ToArray()); // from this always use targetsOnL1,L2,L3 list ObserveStateBeforeMovementandAssign(allTargets.ToArray()); //PrintLookUpTable(L1lookupTable); //PrintLookUpTable(L2lookupTable); //PrintLookUpTable(L3lookupTable); } if (Input.GetKeyDown(KeyCode.B)) { for (int i = 0; i < joints.Count; i++) { joints[i].resetRot = true; } // flip the rotation value and send angleVal *= -1; udpClient.InitiateTimer(1); // 0 for forward 1 for backword } } //if (CuGoRun) //{ // DetectAllTargets(); // SetTargetsInLayers(allTargets.ToArray()); // from this always use targetsOnL1,L2,L3 list // ObserveStateBeforeMovementandAssign(allTargets.ToArray()); // CuGoRun = !CuGoRun; //} ///<summary> /// re configure to origin position /// </summary> CuGoP = transform.GetChild(0).position; }