public void InitDetection()
{
signDetector = new SignDetector();
courseAdvisor = new CourseAdvisor(droneControl.BottomCameraPictureSize, droneControl.BottomCameraFieldOfViewDegrees);
course = new CourseList();
InitDetectionSliders();
}
void FixedUpdate()
{
// Calculate and display speed to GUI
speed = -(wheelRR.radius * Mathf.PI * wheelRR.rpm * 60f / 1000f);
TextField.text = "Speed: " + speed.ToString("0.00") + "km/h RPM: " + (-wheelRL.rpm);
float scaledTorque = -Input.GetAxis("Vertical") * torque;
if (wheelRL.rpm < idealRPM)
{
scaledTorque = Mathf.Lerp(scaledTorque / 10f, scaledTorque, wheelRL.rpm / idealRPM);
}
else
{
scaledTorque = Mathf.Lerp(scaledTorque, 0, (wheelRL.rpm - idealRPM) / (maxRPM - idealRPM));
}
// Counter the inertial forces on the vehicle by adding force to springs
DoRollBar(wheelFR, wheelFL);
DoRollBar(wheelRR, wheelRL);
// Get user input for turning or, if autopilot is active, axis value from DLL
if (SignDetector.getAxis() == -2.0)
{
wheelFR.steerAngle = Input.GetAxis("Horizontal") * turnRadius;
wheelFL.steerAngle = Input.GetAxis("Horizontal") * turnRadius;
}
else
{
wheelFR.steerAngle = (float)SignDetector.getAxis() * turnRadius;
wheelFL.steerAngle = (float)SignDetector.getAxis() * turnRadius;
}
// Set torque to drive-wheels
wheelFR.motorTorque = driveMode == DriveMode.Rear ? 0 : scaledTorque;
wheelFL.motorTorque = driveMode == DriveMode.Rear ? 0 : scaledTorque;
wheelRR.motorTorque = driveMode == DriveMode.Front ? 0 : scaledTorque;
wheelRL.motorTorque = driveMode == DriveMode.Front ? 0 : scaledTorque;
// If brakes are active, apply brakeTorque
if (Input.GetButton("Fire1"))
{
wheelFR.brakeTorque = brakeTorque;
wheelFL.brakeTorque = brakeTorque;
wheelRR.brakeTorque = brakeTorque;
wheelRL.brakeTorque = brakeTorque;
}
else
{
wheelFR.brakeTorque = 0;
wheelFL.brakeTorque = 0;
wheelRR.brakeTorque = 0;
wheelRL.brakeTorque = 0;
}
rotateWheels();
}