// COMMAND API
public override void AccelerationMove(
int targetSpeed,
int acceleration,
int rotationSpeed,
Cube.AccPriorityType accPriorityType,
int controlTime
)
{
#if !RELEASE
if (this.maxMotor < Mathf.Abs(targetSpeed))
{
Debug.LogErrorFormat("[Cube.AccelerationMove]直線速度範囲を超えました. targetSpeed={0}", targetSpeed);
}
if (255 < acceleration)
{
Debug.LogErrorFormat("[Cube.AccelerationMove]加速度範囲を超えました. acceleration={0}", acceleration);
}
if (65535 < rotationSpeed)
{
Debug.LogErrorFormat("[Cube.AccelerationMove]回転速度範囲を超えました. rotationSpeed={0}", rotationSpeed);
}
if (255 < controlTime)
{
Debug.LogErrorFormat("[Cube.AccelerationMove]制御時間範囲を超えました. controlTime={0}", controlTime);
}
#endif
MotorAccCmd cmd = new MotorAccCmd();
cmd.spd = Mathf.Clamp(targetSpeed, -this.maxMotor, this.maxMotor);
cmd.acc = (byte)Mathf.Clamp(acceleration, 0, 255);
cmd.rotationSpeed = Mathf.Clamp(rotationSpeed, -65535, 65535);
cmd.accPriorityType = accPriorityType;
cmd.controlTime = (byte)Mathf.Clamp(controlTime, 0, 255);
cmd.tRecv = Time.time;
motorAccCmdQ.Enqueue(cmd);
}
public void AccelerationMove(
int targetSpeed,
int acceleration,
int rotationSpeed,
Cube.AccPriorityType accPriorityType,
int controlTime
)
{
DelayCommand(() => impl.AccelerationMove(targetSpeed, acceleration, rotationSpeed, accPriorityType, controlTime));
}
