public void OnSetInput_JointVariable(TMP_InputField input)
{
int legNumber = FindLegNumber(input.gameObject, "Leg");
int jointNumber = FindJointNumber(input.gameObject);
float newJointValue = float.Parse(input.text);
//legs[legNumber][jointNumber] = newJointValue;
if (_wifiServer != null)
{
string tag = "J" + legNumber.ToString() + jointNumber.ToString();
_wifiServer.GetComponent <WifiServer>().SendData(tag, Int32.Parse(input.text));
}
if (jointNumber == 0)
{
JointCoxaMovement coxa = coxas.GetComponent <JointCoxaMovement>();
coxa.SetTrajectoryCoxa(new float[] { newJointValue }, new float[] { 1 }, legNumber);
}
if (jointNumber == 1)
{
JointFemurMovement femur = femurs.GetComponent <JointFemurMovement>();
femur.SetTrajectoryFemur(new float[] { newJointValue }, new float[] { 1 }, legNumber);
}
if (jointNumber == 2)
{
JointTibiaMovement tibia = tibias.GetComponent <JointTibiaMovement>();
tibia.SetTrajectoryTibia(new float[] { newJointValue }, new float[] { 1 }, legNumber);
}
}
private void Start()
{
coxa = coxas.GetComponent <JointCoxaMovement>();
femur = femurs.GetComponent <JointFemurMovement>();
tibia = tibias.GetComponent <JointTibiaMovement>();
_wifiServer = GameObject.Find("WifiServer");
}
