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 WalkUneven(float direction)
{
float[] timers = { 0.001f, 1 / velocity, 2 / velocity, 1 / velocity, 2 / velocity };
for (int i = 0; i < 6; i++)
{
float[] increments = robotMove.GetWalkingIncrements(stepDistance, 0, direction, i);
float[][] cartesian;
if (i % 2 == 0)
{
cartesian = robotMove.GetWalkingCycleUneven(robotMove.l1 + robotMove.l2 + walkAmplitude, 0, -robotMove.l3 - walkHigh, stepHigh, increments[0], increments[1], true);
}
else
{
cartesian = robotMove.GetWalkingCycleUneven(robotMove.l1 + robotMove.l2 + walkAmplitude, 0, -robotMove.l3 - walkHigh, stepHigh, increments[0], increments[1], false);
}
float[][] jointsEven = robotMove.GetJointsWalkingCycleUneven(cartesian[0], cartesian[1], cartesian[2], i);
bool notNan = true;
for (int j = 0; j < jointsEven.Length; j++)
{
for (int k = 0; k < jointsEven[j].Length; k++)
{
if (float.IsNaN(jointsEven[j][k]))
{
notNan = false;
}
}
}
if (notNan)
{
coxa.SetTrajectoryCoxa(jointsEven[0], timers, i);
femur.SetTrajectoryFemur(jointsEven[1], timers, i);
tibia.SetTrajectoryTibia(jointsEven[2], timers, i);
}
else
{
print("Imposible to move, invalid commands");
}
}
}
