private void Update()
{
ConveyorLineMotorValue = m_LineVariables_script.GetBool(ConveyorLineMotorByte, ConveyorLineMotorBit);//We get the actual value
// Scroll texture to fake it moving
if (ConveyorLineMotorValue)
{
if (HighSpeedCounterLineValue + (int)(2048 * (Time.deltaTime * desiredspeed) / 0.942f) < 100000)
{
HighSpeedCounterLineValue = HighSpeedCounterLineValue + (int)(2048 * (Time.deltaTime * desiredspeed * 2) / 0.942f);
}
else
{
HighSpeedCounterLineValue = HighSpeedCounterLineValue + (int)(2048 * (Time.deltaTime * desiredspeed * 2) / 0.942f) - 100000;
}
m_LineVariables_script.SetIntDec(HighSpeedCounterLineByte, HighSpeedCounterLineValue); // We set the encoder value
//currentScroll = currentScroll + Time.deltaTime * desiredspeed * visualSpeedScalar;
//GetComponent<Renderer>().material.mainTextureOffset = new Vector2(0, currentScroll);
}
if (Input.GetKeyDown("o"))
{
AllowTheMovement = !AllowTheMovement;
}
}
void FixedUpdate()
{
//Make the movement!
//------------------------------------------------------------
//X movement
float xSpeed = 0.85f;
if (Manipulator_xAxisMotorLowSpeedValue)
{
xSpeed = 0.2f;
}
else
{
xSpeed = 0.5f;
}
if (Manipulator_xAxisMotorForwardValue)
{
AddMoveX(1 * xSpeed);
}
if (Manipulator_xAxisMotorReversalValue)
{
AddMoveX(-1 * xSpeed);
}
//------------------------------------------------------------
//Z movement
float zSpeed = 0.0120f;
Check_case1 = System.Convert.ToInt32(Manipulator_zAxisMotorSpeed1Value);
Check_case2 = System.Convert.ToInt32(Manipulator_zAxisMotorSpeed2Value);
Check_case3 = System.Convert.ToInt32(Manipulator_zAxisMotorSpeed3Value);
Check_case1_DISP = System.Convert.ToInt32(Manipulator_zAxisMotorSpeed1Value) << 2;
Check_case2_DISP = System.Convert.ToInt32(Manipulator_zAxisMotorSpeed2Value) << 1;
Check_case = Check_case1_DISP + Check_case2_DISP + Check_case3;
switch (Check_case)
{
case 0: //0 0 0 -> 12Hz
zSpeed = zSpeed * 10f;
break;
case 1: //0 0 1
break;
case 2: //0 1 0 -> 6.3Hz
zSpeed = zSpeed * 5.3f;
break;
case 3: //0 1 1 ->
break;
case 4: //1 0 0 ->
zSpeed = zSpeed * 50f;
break;
case 5: //1 0 1 -> 45Hz
zSpeed = zSpeed * 45f;
break;
case 6: //1 1 0 ->
break;
case 7: //1 1 1 ->
break;
default: //wutt?
break;
}
if (Manipulator_zAxisMotorForwardValue)
{
AddMoveZ(-1 * zSpeed);
if (GameObject_sucker_script.Collision == false)
{
AddMoveZ_Suckers(-1 * zSpeed);
}
}
if (Manipulator_zAxisMotorReversalValue)
{
AddMoveZ(1 * zSpeed);
if ((GameObject_sucker[0].transform.position.y - GameObject_w.transform.position.y) < 0)
{
AddMoveZ_Suckers(1 * zSpeed);
}
}
//------------------------------------------------------------
//W movement
float wSpeedF = -3f;
float wSpeedB = -3f;
Manipulator_wAxisSpeedWriteValue_CASTED = Manipulator_wAxisSpeedWriteValue;
if (Manipulator_wAxisSpeedWriteValue > 33268)
{
Manipulator_wAxisSpeedWriteValue_CASTED = (Manipulator_wAxisSpeedWriteValue - 65536);
}
if (Manipulator_ServoMotorStartValue && Manipulator_wAxisSpeedWriteValue_CASTED > 0)
{
AddMoveW(wSpeedF * Manipulator_wAxisSpeedWriteValue_CASTED / 33268f); //FORWARD
}
if (Manipulator_ServoMotorStartValue && Manipulator_wAxisSpeedWriteValue_CASTED < 0)
{
AddMoveW(wSpeedB * Manipulator_wAxisSpeedWriteValue_CASTED / 33268f); //bACKWARS
}
//------------------------------------------------------------
float ZAdjustFactor = 1f;
if (Manipulator_zAxisMotorForwardValue && !Manipulator_zAxisMotorReversalValue)
{
//Manipulator_HighSpeedCounterValue = Manipulator_HighSpeedCounterValue + (int)(ZAdjustFactor * 2048 * (Time.deltaTime * zSpeed) / 0.2805f);
Manipulator_HighSpeedCounterValue = (int)(2048 * (StartingZPosition - GameObject_z.GetComponent <Rigidbody>().position.y) / 0.2805f);
}
else if (Manipulator_zAxisMotorReversalValue && !Manipulator_zAxisMotorForwardValue)
{
//Manipulator_HighSpeedCounterValue = Manipulator_HighSpeedCounterValue - (int)(ZAdjustFactor * 2048 * (Time.deltaTime * zSpeed) / 0.2805f);
Manipulator_HighSpeedCounterValue = (int)(2048 * (StartingZPosition - GameObject_z.GetComponent <Rigidbody>().position.y) / 0.2805f);
}
//if (m_Z_Origin_script.SensorValue == true) Manipulator_HighSpeedCounterValue = 0;
if (Manipulator_HighSpeedCounterValue < 0)
{
Manipulator_HighSpeedCounterValue = -1;
}
m_LineVariables_script.SetIntDec(Manipulator_HighSpeedCounterByte, (int)(ZAdjustFactor * Manipulator_HighSpeedCounterValue)); // We set the encoder value
//currentScroll = currentScroll + Time.deltaTime * desiredspeed * visualSpeedScalar;
//GetComponent<Renderer>().material.mainTextureOffset = new Vector2(0, currentScroll);
if (Input.GetKey("t"))
{
AddMoveZ(1 * zSpeed);
//if()
if ((GameObject_sucker[0].transform.position.y - GameObject_w.transform.position.y) < 0)
{
AddMoveZ_Suckers(1 * zSpeed);
}
}
else if (Input.GetKey("g"))
{
AddMoveZ(-1 * zSpeed);
if (GameObject_sucker_script.Collision == false)
{
AddMoveZ_Suckers(-1 * zSpeed);
}
}
else if (Input.GetKey("f"))
{
AddMoveX(1 * xSpeed);
}
else if (Input.GetKey("h"))
{
AddMoveX(-1 * xSpeed);
}
else if (Input.GetKey("y"))
{
AddMoveW(0.08f * wSpeedF);
}
else if (Input.GetKey("v"))
{
AddMoveW(-0.08f * wSpeedF);
}
Vector3 Movement_x = new Vector3(GameObject_x_movement, 0, 0);
Vector3 Movement_z = new Vector3(GameObject_x_movement, GameObject_y_movement, 0);
Vector3 Movement_w = new Vector3(GameObject_x_movement, GameObject_y_movement, GameObject_z_movement);
Vector3 Movement_sucker = new Vector3(GameObject_x_movement, GameObject_y_suckers_movement, GameObject_z_movement);
GameObject_x.GetComponent <Rigidbody>().MovePosition(GameObject_x.GetComponent <Rigidbody>().position + Movement_x);
GameObject_z.GetComponent <Rigidbody>().MovePosition(GameObject_z.GetComponent <Rigidbody>().position + Movement_z);
GameObject_w.GetComponent <Rigidbody>().MovePosition(GameObject_w.GetComponent <Rigidbody>().position + Movement_w);
for (int i = 0; i < GameObject_sucker.Length; i++)
{
GameObject_sucker[i].GetComponent <Rigidbody>().MovePosition(GameObject_sucker[i].GetComponent <Rigidbody>().position + Movement_sucker);
}
GameObject_x_movement = 0;
GameObject_y_movement = 0;
GameObject_z_movement = 0;
GameObject_y_suckers_movement = 0;
}
