public arduino_communication()
{
arduino_admin = new Timer {
Interval = 1
};
arduino_admin.Elapsed += arduino_admin_func;
arduino_admin.Start();
arduino_serial = new SerialPort();
//arduino_serial.DataReceived += new SerialDataReceivedEventHandler(serial_data_received);
command_valid = false;
values_received = new long[2];
values_transmit = new long[2];
motors = new motor[2];
calibrate_counter = 0;
}
public Motocicleta(string Color,string Marca,int Ano,int Kilometraje){
int idmotor, tipomotor, int cilindeada,
int numruedas, tipoRecubrimiento,
int minDurometro, int maxDurometro)
_color =color;
_marca=marca;
_ano=ano;
_kilometraje=kilometraje;
_motor = new motor(idmotor, tipoMotor, cilindrada);
_rueda = newrueda[numruedas];
for (int i-0; i < numreuda; i++);
_ruedas[i] - new Rueda(tipoRecubrimiento, minDurometro, maxDurometro);
_estanque = new estanque(capacidad);
}
void Start()
{
//Multicopter motor configuration
//Quadcopter
motors = new motor[4];
motors[0] = new motor(new Vector3(1, 0, 1), 0f, true); //Front left CW
motors[1] = new motor(new Vector3(1, 0, -1), 0f, false); //Front righ CCW
motors[2] = new motor(new Vector3(-1, 0, -1), 0f, true); //Rear right CW
motors[3] = new motor(new Vector3(-1, 0, 1), 0, false); //Rear left CCW
tx = new Transmitter();
sensors = new Sensors(GetComponent<Rigidbody>());
controller = new CFController(0);
armed = true;
}
public void ControlUpdate(motor[] motors, Transmitter tx, Sensors sensors)
{
if (armed)
{
if (Modes.BARO_MODE)
{//35 degrees max inclination
roll.Control(sensors.GetRotation().x, sensors.GetAngularVelocity().x, -tx.GetRoll() * 35);
pitch.Control(sensors.GetRotation().z, sensors.GetAngularVelocity().z, -tx.GetPitch() * 35);
yaw.Control(sensors.GetRotation().y, sensors.GetAngularVelocity().y, tx.GetYaw() * 50);
}
//Calculates and applies the force to the motors
for (int i = 0; i < 4; i++)
{
//General force (throttle)
motors[i].force = tx.GetThrottle() * 2.0F; //:) This should take into account the air density, air temp, altitude, batteries charge, etc.
//Pitch force
motors[i].force -= motors[i].position.x * (pitch.p + pitch.i + pitch.d);
//Roll force
motors[i].force += motors[i].position.z * (roll.p + roll.i + roll.d);// + (-0.1F + Random.value*0.2F);
}
if (tx.GetYaw() < -0.9 && tx.GetThrottle() < 0.1)
{
contCyclesBeforeArmUnarm++;
}
else
{
contCyclesBeforeArmUnarm = 0;
}
if (contCyclesBeforeArmUnarm >= 100)
{
armed = false;
Debug.Log("UNARMED");
}
}
else
{
for (int i = 0; i < 4; i++)
{
motors[i].force = 0f;
}
if (tx.GetYaw() > 0.9 && tx.GetThrottle() < 0.1)
{
contCyclesBeforeArmUnarm++;
}
else
{
contCyclesBeforeArmUnarm = 0;
}
if (contCyclesBeforeArmUnarm >= 100)
{
armed = true;
Debug.Log("ARMED");
}
}
}
void initializeComponents()
{
rigid = GetComponent<Rigidbody2D>();
currentSprite = GetComponent<SpriteRenderer>();
currentStatus = GetComponent<status>();
anim = GetComponent<Animator>();
audio = GetComponent<AudioSource>();
motor = GetComponent<motor>();
jumpController = GetComponent<jumpController>();
wallJumpController = GetComponent<wallJumpController>();
gunController = GetComponent<gunController>();
}
