/**
* @brief Update the app's gui and take actions based on user interaction with gui.
* Additional buttons can be added to easily send EagleAPI commands<br>
* if (GUI.Button(new Rect(200, 200, 75, 20), "Reset Position")) EagleAPI.actuators[target_actuator].ResetPosition();
*/
private void OnGUI()
{
// ///Search for a serial port that has an eagle controller, stop and white light when correct port found
switch (EagleAPI.correctPort)
{
case false:
style.normal.textColor = Color.black;
if ((Time.time - waiting_for_response) > 0.05)
{
EagleAPI.Handshake();
waiting_for_response = Time.time;
}
break;
case true:
style.normal.textColor = Color.white;
break;
}
///Comm port that is being used by the Serial class
GUI.Label(new Rect(Screen.width - 250, Screen.height - 100, 250, 40), "Port: " + Serial.GetPortName(), style);
///Send a system ready command
if (GUI.Button(new Rect(50, 250, 150, 20), "System Ready"))
{
EagleAPI.SystemReady();
}
///Actuator information, target acutator, position, actuator force, temperature etc.
GUI.Label(new Rect(50, 50, 250, 40), "Target Actuator: " + target_actuator.ToString());
target_actuator = Mathf.RoundToInt(GUI.HorizontalSlider(new Rect(50, 30, 150, 20), target_actuator, 0, 5));
if (target_actuator != last_target_actuator)
{
pcenableflag = true;
}
GUI.Label(new Rect(50, 75, 250, 20), "Actuator Position (mm): " + (EagleAPI.actuators[target_actuator].position / 1000f).ToString("0.00")); //position is received in micrometers
GUI.Label(new Rect(50, 100, 250, 20), "Actuator Force: " + EagleAPI.actuators[target_actuator].force.ToString("0"));
GUI.Label(new Rect(50, 125, 250, 20), "Errors: " + EagleAPI.actuators[target_actuator].errors.ToString());
GUI.Label(new Rect(50, 150, 250, 20), "Temperature (C): " + EagleAPI.actuators[target_actuator].temperature.ToString());
GUI.Label(new Rect(50, 175, 250, 20), "Voltage (V): " + EagleAPI.actuators[target_actuator].voltage.ToString("0.00"));
GUI.Label(new Rect(50, 200, 250, 20), "Power (W): " + EagleAPI.actuators[target_actuator].power.ToString("0.00"));
///Force Control section, spring constant and center, sine magnitude and frequency.
if (forceControl = GUI.Toggle(new Rect(500, 50, 250, 20), forceControl, "ForceControl", "Button"))
{
if (positionControl)
{
pcenableflag = true;
}
positionControl = false;
}
GUI.Label(new Rect(300, 75, 250, 20), "Spring Constant(force/mm): " + springK.ToString("0.00"));
springK = (GUI.HorizontalSlider(new Rect(500, 80, 250, 20), springK, 0, 5));
GUI.Label(new Rect(300, 100, 250, 20), "Spring Center(mm): " + springCenter.ToString("0.00"));
springCenter = (GUI.HorizontalSlider(new Rect(500, 105, 250, 20), springCenter, 0, 200));
GUI.Label(new Rect(300, 125, 250, 20), "Sine Magnitude: " + sine_mag.ToString("0.00"));
sine_mag = (GUI.HorizontalSlider(new Rect(500, 130, 250, 20), sine_mag, 0, 50));
GUI.Label(new Rect(300, 150, 250, 20), "Sine Frequency (Hz): " + sine_freq.ToString("0"));
sine_freq = (GUI.HorizontalSlider(new Rect(500, 155, 250, 20), sine_freq, 0, 50));
GUI.Label(new Rect(300, 175, 250, 20), "Constant Force: " + const_force.ToString("0"));
const_force = (GUI.HorizontalSlider(new Rect(500, 180, 250, 20), const_force, -30, 30));
///Position control sections
if (positionControl = GUI.Toggle(new Rect(500, 250, 250, 20), positionControl, "Position Control", "Button"))
{
if (forceControl)
{
pcenableflag = true;
}
forceControl = false;
}
GUI.Label(new Rect(300, 275, 250, 20), "Target Position(mm): " + target_position.ToString("0"));
target_position = (int)(GUI.HorizontalSlider(new Rect(500, 280, 250, 20), target_position, 0, 150));
GUI.Label(new Rect(50, Screen.height - 175, 150, 20), "Received: " + EagleAPI.lastResponse);
GUI.Label(new Rect(50, Screen.height - 150, 150, 20), "Sent: " + EagleAPI.lastSent);
///General serial command sending box
GUI.Label(new Rect(50, Screen.height - 100, 150, 20), "Send Serial Command");
stringCommand = GUI.TextField(new Rect(50, Screen.height - 75, 150, 20), stringCommand);
if (GUI.Button(new Rect(200, Screen.height - 75, 75, 20), "Send"))
{
Serial.Write(stringCommand + "\r");
}
}
/** @brief Updates at a fixed timestep, calculates physics for force control effects or position control
*/
void FixedUpdate()
{
if (initial_handshake)
{
EagleAPI.Handshake(); ///check if there is an Eagle controller on the connected port
waiting_for_response = Time.time;
initial_handshake = false;
}
// if (Serial.correctPort){
last_step = Time.time;
///send an extended force command every second whne in force control mode to update temperature adn voltage etc.
if ((Time.time - last_second) > 1)
{
last_second = Time.time;
extended_servo_flag = true;
}
///calculate spring force
spring_force = -(EagleAPI.actuators[target_actuator].position - springCenter * 1000f) * springK / 1000f;
///calculate sine force
sine_force = sine_mag * Mathf.Sin(2 * Mathf.PI * sine_freq * Time.time);
///layer force effects
send_force = spring_force + sine_force + const_force;
///Cap the maximum force
if (Mathf.Abs(send_force) > maxForce)
{
send_force = Mathf.Sign(send_force) * maxForce;
}
///If the actuator position is invalid do not send a force
if (EagleAPI.actuators[target_actuator].position > 500000)
{
send_force = 0;
}
///If the position Control button is toggled on enable postion contoller if needed and send a position control command to the target position.
if (positionControl)
{
if (pcenableflag)
{
EagleAPI.actuators[target_actuator].EnablePositionControl(1);
pcenableflag = false;
}
EagleAPI.actuators[target_actuator].PositionControl(target_position);
}
///If the force Control button is toggled on disabled the position controller if needed and send a force command to the actuator using the layered effects.
else if (forceControl)
{
if (pcenableflag)
{
EagleAPI.actuators[target_actuator].EnablePositionControl(0);
pcenableflag = false;
}
if (extended_servo_flag)
{
EagleAPI.actuators[target_actuator].ExtendedForce((int)send_force); extended_servo_flag = false;
}
else
{
EagleAPI.actuators[target_actuator].Force((int)send_force);
}
}
///If neither force conttrol of position control are toggled on send a 0 force so the acutator position is still streamed
else
{
EagleAPI.actuators[target_actuator].Force(0);
}
// }
}
