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;
}
