/// <summary>
/// Called once every physics step (framerate independent) to drive motor joints as well as handle the resetting of the robot
/// </summary>
void FixedUpdate()
{
if (rootNode != null && ControlsEnabled)
{
if (Packet != null)
{
DriveJoints.UpdateAllMotors(rootNode, Packet.dio, ControlIndex, RobotIsMecanum);
}
else
{
DriveJoints.UpdateAllMotors(rootNode, emptyDIO, ControlIndex, RobotIsMecanum);
}
if (RobotHasManipulator)
{
DriveJoints.UpdateManipulatorMotors(manipulatorNode, emptyDIO, ControlIndex);
}
}
if (IsResetting)
{
Resetting();
}
UpdateStats();
}
/// <summary>
/// Called once every physics step (framerate independent) to drive motor joints as well as handle the resetting of the robot
/// </summary>
void FixedUpdate()
{
if (rootNode != null && ControlsEnabled)
{
if (Packet != null)
{
DriveJoints.UpdateAllMotors(rootNode, Packet.dio, controlIndex, MixAndMatchMode.GetMecanum());
}
else
{
DriveJoints.UpdateAllMotors(rootNode, emptyDIO, controlIndex, MixAndMatchMode.GetMecanum());
}
int isMixAndMatch = PlayerPrefs.GetInt("mixAndMatch", 0); //0 is false, 1 is true
//If the robot is in Mix and Match mode and has a manipulator, update the manipulator motors
if (robotHasManipulator == 1 && isMixAndMatch == 1)
{
Debug.Log("Manipulator should be moving");
DriveJoints.UpdateManipulatorMotors(manipulatorNode, emptyDIO, controlIndex, MixAndMatchMode.GetMecanum());
}
}
if (IsResetting)
{
Resetting();
}
UpdateStats();
}
/// <summary>
/// Updates the motors of the robot.
/// </summary>
protected override void UpdateMotors(float[] pwm = null)
{
base.UpdateMotors(pwm);
if (RobotHasManipulator)
{
DriveJoints.UpdateManipulatorMotors(manipulatorNode, emptyDIO, ControlIndex);
}
}
/// <summary>
/// Updates the motors of the robot.
/// </summary>
protected override void UpdateMotors()
{
base.UpdateMotors();
if (RobotHasManipulator)
{
DriveJoints.UpdateManipulatorMotors(manipulatorNode, ControlIndex, emuList);
}
}