private void Update()
{
if (robotMove.joystick.isActiveAndEnabled)
{
if (robotMove.GetJoystickInputModule() > 0.8)
{
if (_wifiServer != null)
{
string tag = "W";
int data = (int)(robotMove.GetJoystickInputAngle() * 180f / (float)Math.PI);
_wifiServer.GetComponent <WifiServer>().SendData(tag, data);
}
if (coxa.IsFinished() && femur.IsFinished() && tibia.IsFinished())
{
planner_steps = 0;
Walk(robotMove.GetJoystickInputAngle());
}
}
else
{
if (planner_steps > 0)
{
if (coxa.IsFinished() && femur.IsFinished() && tibia.IsFinished())
{
Walk(planner_angle);
planner_steps--;
}
}
}
}
}
