// Update is called once per frame
void Update()
{
//AmplitudeHeave = 위 아래 / FrequencyHeave = 간격 - max 30
//AmplitudeRoll = 좌 우 / FrequencyRoll = s - max 10
//AmplitudePitch = 앞 뒤 / FrequencyPitch = 간격 - max 10
if (state == true)
{
if (actionbool == true)
{
anim.SetFloat("Speed", 1);
CInnoMotion_API.SetOperation(Heave, Roll, Pitch, FHeave, FRoll, FPitch);
time += Time.deltaTime;
//pause
if (time >= 130f)
{
SceneManager.LoadScene("MainMenu", LoadSceneMode.Single);
}
}
else
{
Init();
}
}
else if (state == false)
{
Init();
anim.SetFloat("Speed", 0);
}
}
int MotionOpen()
{
int nOpen;
CInnoMotion_API.SetEquipNumber(EquipNumber);
nOpen = CInnoMotion_API.OpenDevice();
if (nOpen == 0)
{
CInnoMotion_API.SetServoOnOff(0, CInnoMotion_API.ON);
CInnoMotion_API.SetServoOnOff(1, CInnoMotion_API.ON);
CInnoMotion_API.SetServoOnOff(2, CInnoMotion_API.ON);
CInnoMotion_API.SetAlarmOnOff(0, CInnoMotion_API.ON);
CInnoMotion_API.SetAlarmOnOff(1, CInnoMotion_API.ON);
CInnoMotion_API.SetAlarmOnOff(2, CInnoMotion_API.ON);
CInnoMotion_API.SetAlarmOnOff(0, CInnoMotion_API.OFF);
CInnoMotion_API.SetAlarmOnOff(1, CInnoMotion_API.OFF);
CInnoMotion_API.SetAlarmOnOff(2, CInnoMotion_API.OFF);
}
return(nOpen);
}
public IEnumerator MotionInit()
{
CInnoMotion_API.SetSettle();
yield return(new WaitForSeconds(1.0f)); //while motion move
CInnoMotion_API.SetNeutral();
yield return(new WaitForSeconds(3.0f)); //while motion move
}
void OnApplicationQuit()
{
CInnoMotion_API.SetSettle();
CInnoMotion_API.CloseDevice();
}
void SetNeutral()
{
CInnoMotion_API.SetNeutral();
}
void SetSettle()
{
CInnoMotion_API.SetSettle();
}
// Update is called once per frame
void Update()
{
//AmplitudeHeave = 위 아래 / FrequencyHeave = 간격
//AmplitudeRoll = 좌 우 / FrequencyRoll = 간격
//AmplitudePitch = 앞 뒤 / FrequencyPitch = 간격
if (Input.GetKey(KeyCode.LeftArrow))
{
if (roll <= 10)
{
roll += (Time.deltaTime * moveSpeed);
AmplitudeRoll = roll * -1;
}
else
{
return;
}
Debug.Log("LEFT");
CInnoMotion_API.SetOperation(AmplitudeHeave, AmplitudeRoll, AmplitudePitch, FrequencyHeave, FrequencyRoll, FrequencyPitch);
}
if (Input.GetKey(KeyCode.RightArrow))
{
if (-10 <= roll)
{
roll -= (Time.deltaTime * moveSpeed);
AmplitudeRoll = roll * -1;
}
Debug.Log("Right");
CInnoMotion_API.SetOperation(AmplitudeHeave, AmplitudeRoll, AmplitudePitch, FrequencyHeave, FrequencyRoll, FrequencyPitch);
}
if (Input.GetKey(KeyCode.DownArrow))
{
if (pitch <= 10)
{
pitch += (Time.deltaTime * moveSpeed);
AmplitudePitch = pitch;
}
Debug.Log("Down");
CInnoMotion_API.SetOperation(AmplitudeHeave, AmplitudeRoll, AmplitudePitch, FrequencyHeave, FrequencyRoll, FrequencyPitch);
}
if (Input.GetKey(KeyCode.UpArrow))
{
if (-10 <= pitch)
{
pitch -= (Time.deltaTime * moveSpeed);
AmplitudePitch = pitch;
}
Debug.Log("Up");
CInnoMotion_API.SetOperation(AmplitudeHeave, AmplitudeRoll, AmplitudePitch, FrequencyHeave, FrequencyRoll, FrequencyPitch);
}
if (Input.GetKey(KeyCode.PageDown))
{
if (-10 <= heave)
{
heave -= (Time.deltaTime * moveSpeed);
AmplitudeHeave = heave;
}
Debug.Log("Jump");
CInnoMotion_API.SetOperation(AmplitudeHeave, AmplitudeRoll, AmplitudePitch, FrequencyHeave, FrequencyRoll, FrequencyPitch);
}
if (Input.GetKey(KeyCode.PageUp))
{
if (heave <= 10)
{
heave += (Time.deltaTime * moveSpeed);
AmplitudeHeave = heave;
}
Debug.Log("Fall");
CInnoMotion_API.SetOperation(AmplitudeHeave, AmplitudeRoll, AmplitudePitch, FrequencyHeave, FrequencyRoll, FrequencyPitch);
}
if (Input.GetKeyDown(KeyCode.R))
{
heave = 0.0f;
pitch = 0.0f;
roll = 0.0f;
CInnoMotion_API.SetOperation(0, 0, 0, 0, 0, 0);
}
}
void MotionDisConnect()
{
CInnoMotion_API.CloseDevice();
}
