public void Start() { data_test = new Infos_Carte.Com_Reponse_Info(); data_test.Numero_Robot = Infos_Carte.Com_Position_Robot_Identification.Gros_Robot; data_test.Numero_Carte = 1; data_test.PositionRobot.Position_X = 2500; data_test.PositionRobot.Position_Y = 10000; data_test.PositionRobot.Angle = 12300; data_test.Position_Servos = new Infos_Carte.Com_Position_Servos(); data_test.Position_Servos.Position = new ushort[Infos_Carte.NB_SERVO]; data_test.Position_Servos.Position[0] = 500; data_test.Position_Servos.Position[1] = 600; data_test.Position_Servos.Position[2] = 300; data_test.Position_Servos.Position[3] = 800; data_test.Position_Servos.Position[4] = 100; data_test.Position_Servos.Position[5] = 50; data_test.Position_AX12 = new Infos_Carte.Com_Position_AX12(); data_test.Position_AX12.Position = new ushort[Infos_Carte.NB_AX_12]; data_test.Position_AX12.Position[0] = 500; data_test.Position_AX12.Position[1] = 250; data_test.Position_AX12.Position[2] = 26; data_test.Position_AX12.Position[3] = 128; data_test.Position_AX12.Torque = new short[Infos_Carte.NB_AX_12]; data_test.Position_AX12.Torque[0] = 500; data_test.Position_AX12.Torque[1] = 250; data_test.Position_AX12.Torque[2] = 26; data_test.Position_AX12.Torque[3] = 128; data_test.Mesures_Analogiques = new Infos_Carte.Com_Mesures_Analogiques(); data_test.Mesures_Analogiques.Mesure = new ushort[Infos_Carte.NB_MES_ANA]; data_test.Mesures_Analogiques.Mesure[0] = 1023; data_test.Mesures_Analogiques.Mesure[1] = 2046; data_test.Mesures_Analogiques.Mesure[2] = 3069; data_test.Mesures_Analogiques.Mesure[3] = 4092; data_test.Tension_Batterie = 1524; data_test.Etat_Alim = 0b11111111; data_test.Etat_Contacteurs = 0b11111111; Communication com = new Communication(); Communication.Communication_Message message = new Communication.Communication_Message(); message.Heure = DateTime.Now; message.Trame.Instruction = Communication.Com_Instruction.REPONSE_INFO_Multi_FCT; message.Trame.Data = com.COPYDATA(data_test); //Communication_GO.GetComponent<Interprete_Message>().Decodage_and_Save_Message(message); data_test.Numero_Robot = Infos_Carte.Com_Position_Robot_Identification.Petit_Robot; data_test.Numero_Carte = 1; data_test.PositionRobot.Position_X = 10000; data_test.PositionRobot.Position_Y = 15000; data_test.PositionRobot.Angle = 0; message.Trame.Data = com.COPYDATA(data_test); //this.StartCoroutine("test_logger_quantity"); //this.StartCoroutine(test_logger_saver()); Trame_Decoder[] encoder = Communication_GO.GetComponentsInChildren <Trame_Decoder>(); tasks.Add(Task.Factory.StartNew(async() => { await Task.Delay(15000); for (int i = 0; i < 4000; i++) { data_test.PositionRobot.Position_X++; //data_test.PositionRobot.Position_Y--; data_test.PositionRobot.Angle += 3; message = new Communication.Communication_Message(); message.Heure = DateTime.Now; message.Trame.Instruction = Communication.Com_Instruction.REPONSE_INFO_Multi_FCT; message.Trame.Data = com.COPYDATA(data_test); encoder[0].Push_Message_Out(message); await Task.Delay(150); } })); }