//TODO ADD ALL THE THINGS!!!
public void Init()
{
DifferentialDrive initInfo = gameObject.GetComponentInParent <DifferentialDrive>();
wheel = gameObject.AddComponent <WheelCollider>();
wheel.mass = initInfo.Mass;
wheel.radius = initInfo.Radius;
wheel.wheelDampingRate = initInfo.WheelDampintRate;
wheel.suspensionDistance = initInfo.SuspensionDistance;
wheel.forceAppPointDistance = initInfo.ForceAppPointDistance;
JointSpring newJointSpring = new JointSpring();
newJointSpring.spring = initInfo.SuspensionSpring;
newJointSpring.damper = initInfo.SuspensionDamper;
newJointSpring.targetPosition = initInfo.SuspensionTargetPosition;
wheel.suspensionSpring = newJointSpring;
WheelFrictionCurve fricForward = new WheelFrictionCurve();
fricForward.extremumSlip = initInfo.FricForwardExtremumSlip;
fricForward.extremumValue = initInfo.FricForwardExtremumValue;
fricForward.asymptoteSlip = initInfo.FricForwardAsymptoteSlip;
fricForward.asymptoteValue = initInfo.FricForwardAsymptoteValue;
fricForward.stiffness = initInfo.FricForwardStiffness;
wheel.forwardFriction = fricForward;
WheelFrictionCurve fricSide = new WheelFrictionCurve();
fricSide.extremumSlip = initInfo.FricSideExtremumSlip;
fricSide.extremumValue = initInfo.FricSideExtremumValue;
fricSide.asymptoteSlip = initInfo.FricSideAsymptoteSlip;
fricSide.asymptoteValue = initInfo.FricSideAsymptoteValue;
fricSide.stiffness = initInfo.FricForwardStiffness;
wheel.sidewaysFriction = fricSide;
maxMotorTorque = initInfo.MaxTorque;
Debug.Log("MaxRpm: " + initInfo.MaxRPM);
wheel.ConfigureVehicleSubsteps(initInfo.MaxRPM, 2, 2);
}
/// <summary>
/// Allows the game to perform any initialization it needs to before starting to run.
/// This is where it can query for any required services and load any non-graphic
/// related content. Calling base.Initialize will enumerate through any components
/// and initialize them as well.
/// </summary>
protected override void Initialize()
{
// TODO: Add your initialization logic here
InitalizeSerialCommunication();
lowerLeftBumper = new Bumper();
upperLeftBumper = new Bumper();
upperRightBumper = new Bumper();
lowerRightBumper = new Bumper();
wheels = new CoupledWheels();
wheels.ClicksPerTurn = 3900;
wheels.WheelDistance = 0.345f;
wheels.WheelRadius = 0.0467f;
wheels.Updated += new EventHandler(wheels_Updated);
sonar0 = new MaxbotixSonar();
sonar1 = new MaxbotixSonar();
sonar2 = new MaxbotixSonar();
sonar3 = new MaxbotixSonar();
sonar4 = new MaxbotixSonar();
groundSensor0 = new InfraredSensor();
groundSensor1 = new InfraredSensor();
groundSensor2 = new InfraredSensor();
redLed = new LedPwm();
greenLed = new LedPwm();
blueLed = new LedPwm();
drive = new DifferentialDrive(wheels);
odometry = new DifferentialOdometry(wheels);
proximity = new ProximityArray
{
{ new Transform(0.15f, 0.14f, MathHelper.ToRadians(45)), sonar0 },
{ new Transform(0.165f, 0.07f, MathHelper.ToRadians(20)), sonar1 },
{ new Transform(0.18f, 0.0f, MathHelper.ToRadians(0)), sonar2 },
{ new Transform(0.165f, -0.07f, MathHelper.ToRadians(-20)), sonar3 },
{ new Transform(0.15f, -0.14f, MathHelper.ToRadians(-45)), sonar4 },
};
protocol = new ProtocolManager();
protocol.SubscribeComponent(lowerLeftBumper);
protocol.SubscribeComponent(upperLeftBumper);
protocol.SubscribeComponent(upperRightBumper);
protocol.SubscribeComponent(lowerRightBumper);
protocol.SubscribeComponent(wheels);
protocol.SubscribeComponent(sonar0);
protocol.SubscribeComponent(sonar1);
protocol.SubscribeComponent(sonar2);
protocol.SubscribeComponent(sonar3);
protocol.SubscribeComponent(sonar4);
protocol.SubscribeComponent(groundSensor0);
protocol.SubscribeComponent(groundSensor1);
protocol.SubscribeComponent(groundSensor2);
protocol.SubscribeComponent(greenLed);
protocol.SubscribeComponent(redLed);
protocol.SubscribeComponent(blueLed);
transport.Protocol = protocol;
renderer = new SpriteRenderer(this);
renderer.PixelsPerMeter = 100;
Components.Add(renderer);
// Create a new SpriteBatch, which can be used to draw textures.
spriteBatch = new SpriteBatch(GraphicsDevice);
Services.AddService(typeof(SpriteBatch), spriteBatch);
base.Initialize();
}
/// <summary>
/// Allows the game to perform any initialization it needs to before starting to run.
/// This is where it can query for any required services and load any non-graphic
/// related content. Calling base.Initialize will enumerate through any components
/// and initialize them as well.
/// </summary>
protected override void Initialize()
{
// TODO: Add your initialization logic here
InitalizeSerialCommunication();
lowerLeftBumper = new Bumper();
upperLeftBumper = new Bumper();
upperRightBumper = new Bumper();
lowerRightBumper = new Bumper();
wheels = new CoupledWheels();
wheels.ClicksPerTurn = 3900;
wheels.WheelDistance = 0.345f;
wheels.WheelRadius = 0.0467f;
wheels.Updated += new EventHandler(wheels_Updated);
sonar0 = new MaxbotixSonar();
sonar1 = new MaxbotixSonar();
sonar2 = new MaxbotixSonar();
sonar3 = new MaxbotixSonar();
sonar4 = new MaxbotixSonar();
groundSensor0 = new InfraredSensor();
groundSensor1 = new InfraredSensor();
groundSensor2 = new InfraredSensor();
redLed = new LedPwm();
greenLed = new LedPwm();
blueLed = new LedPwm();
drive = new DifferentialDrive(wheels);
odometry = new DifferentialOdometry(wheels);
proximity = new ProximityArray
{
{ new Transform(0.15f, 0.14f, MathHelper.ToRadians(45)), sonar0 },
{ new Transform(0.165f, 0.07f, MathHelper.ToRadians(20)), sonar1 },
{ new Transform(0.18f, 0.0f, MathHelper.ToRadians(0)), sonar2 },
{ new Transform(0.165f, -0.07f, MathHelper.ToRadians(-20)), sonar3 },
{ new Transform(0.15f, -0.14f, MathHelper.ToRadians(-45)), sonar4 },
};
protocol = new ProtocolManager();
protocol.SubscribeComponent(lowerLeftBumper);
protocol.SubscribeComponent(upperLeftBumper);
protocol.SubscribeComponent(upperRightBumper);
protocol.SubscribeComponent(lowerRightBumper);
protocol.SubscribeComponent(wheels);
protocol.SubscribeComponent(sonar0);
protocol.SubscribeComponent(sonar1);
protocol.SubscribeComponent(sonar2);
protocol.SubscribeComponent(sonar3);
protocol.SubscribeComponent(sonar4);
protocol.SubscribeComponent(groundSensor0);
protocol.SubscribeComponent(groundSensor1);
protocol.SubscribeComponent(groundSensor2);
protocol.SubscribeComponent(greenLed);
protocol.SubscribeComponent(redLed);
protocol.SubscribeComponent(blueLed);
transport.Protocol = protocol;
renderer = new SpriteRenderer(this);
renderer.PixelsPerMeter = 100;
Components.Add(renderer);
// Create a new SpriteBatch, which can be used to draw textures.
spriteBatch = new SpriteBatch(GraphicsDevice);
Services.AddService(typeof(SpriteBatch), spriteBatch);
base.Initialize();
}
