/// <summary>
/// 無理やり1フレームだけのダンスモーションを転送して再生する
/// </summary>
/// <returns></returns>
public IEnumerator TestPosePlay()
{
float waitSec = 0.05f;
byte[] data1 = PreMaidUtility.BuildByteDataFromStringOrder("07 01 00 02 00 02 06");
serialPort_.Write(data1, 0, data1.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data2 = PreMaidUtility.BuildByteDataFromStringOrder("07 01 00 08 00 02 0C");
serialPort_.Write(data2, 0, data2.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data3 = PreMaidUtility.BuildByteDataFromStringOrder("08 02 00 08 00 FF FF 02");
serialPort_.Write(data3, 0, data3.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data4 = PreMaidUtility.BuildByteDataFromStringOrder("04 04 00 00");//フラッシュのライトプロテクト解除？
serialPort_.Write(data4, 0, data4.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data5 = PreMaidUtility.BuildByteDataFromStringOrder("5c 1d 00 00 00"); //転送コマンド？
serialPort_.Write(data5, 0, data5.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data6 = PreMaidUtility.BuildByteDataFromStringOrder(PreMaidUtility.RewriteXorString(testPose)); //対象のモーション、今回は1個だけ
serialPort_.Write(data6, 0, data6.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data7 = PreMaidUtility.BuildByteDataFromStringOrder("04 17 00 13 ff ff 41"); //不明
serialPort_.Write(data7, 0, data7.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data8 = PreMaidUtility.BuildByteDataFromStringOrder("05 1E 00 01 1A");
serialPort_.Write(data8, 0, data8.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data9 = PreMaidUtility.BuildByteDataFromStringOrder("05 1C 00 01 18"); //ベリファイダンプ要請
serialPort_.Write(data9, 0, data9.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data10 = PreMaidUtility.BuildByteDataFromStringOrder("08 02 00 08 00 08 00 0A");//モーションデータ転送終了
serialPort_.Write(data10, 0, data10.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data11 = PreMaidUtility.BuildByteDataFromStringOrder("04 04 00 00");//フラッシュのライトプロテクトを掛ける？
serialPort_.Write(data11, 0, data11.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data12 = PreMaidUtility.BuildByteDataFromStringOrder("05 1F 00 01 1B");//01番モーション再生
serialPort_.Write(data12, 0, data12.Length);
yield return(new WaitForSeconds(waitSec));
}
// Update is called once per frame
void Update()
{
//動作確認にもTポーズというかポーズ終了を送るのは良いこと
if (Input.GetKeyDown(KeyCode.A))
{
byte[] data = PreMaidUtility.BuildByteDataFromStringOrder(forceTpose);
serialPort_.Write(data, 0, data.Length);
PreMaidUtility.DumpDebugLogToHex(data);
}
//どうぞ、のポーズを取る
if (Input.GetKeyDown(KeyCode.B))
{
byte[] data = PreMaidUtility.BuildByteDataFromStringOrder(poseDouzo);
serialPort_.Write(data, 0, data.Length);
PreMaidUtility.DumpDebugLogToHex(data);
}
//格納しているダンスモーションを再生する
if (Input.GetKeyDown(KeyCode.C))
{
byte[] data = PreMaidUtility.BuildByteDataFromStringOrder(startDance);
serialPort_.Write(data, 0, data.Length);
PreMaidUtility.DumpDebugLogToHex(data);
}
//まだ動作していない、任意サーボ情報を送るポーズ指定
if (Input.GetKeyDown(KeyCode.D))
{
byte[] data = PreMaidUtility.BuildByteDataFromStringOrder(testPose);
serialPort_.Write(data, 0, data.Length);
PreMaidUtility.DumpDebugLogToHex(data);
}
if (Input.GetKeyDown(KeyCode.Q))
{
serialPort_.Close();
}
//指定の1フレームポーズの転送
if (Input.GetKeyDown(KeyCode.K))
{
StartCoroutine(TestPosePlay());
//Debug.Log(CalcXorString("05 1F 00 01"));
//Debug.Log(RewriteXorString("05 1F 00 01 FF"));
}
//指定の1フレームポーズの転送
if (Input.GetKeyDown(KeyCode.E))
{
defaultHeadYaw = 7500;
StartCoroutine(MoveLeftShoulderRotatePose(defaultHeadYaw));
}
if (Input.GetKeyDown(KeyCode.LeftArrow))
{
defaultHeadYaw -= 500;
StartCoroutine(MoveLeftShoulderRotatePose(defaultHeadYaw));
}
if (Input.GetKeyDown(KeyCode.RightArrow))
{
defaultHeadYaw += 500;
StartCoroutine(MoveLeftShoulderRotatePose(defaultHeadYaw));
}
}
/// <summary>
/// その場でダンスモーション相当を生成して転送して再生、という例
/// </summary>
/// <param name="target"></param>
/// <returns></returns>
public IEnumerator MoveLeftShoulderRotatePose(int target)
{
//サーボリミットは3000から11000くらいという話もあるけど、安全のためそれよりチェックは厳しめにしておく
if (target < 4000 || target > 10000)
{
yield break;
}
//04番=L肩ピッチのサーボの値をtargetのサーボの値に書き換えて、えいって送る
var bytes = BitConverter.GetBytes(target);
string str = string.Empty;
for (int i = 0; i < 2; i++)
{
str += string.Format("{0:X2} ", bytes[i]);
}
var pose = "50 18 00 06 02 4C 1D 03 4C 1D 04 " + str +
"05 4C 1D 06 4C 1D 07 4C 1D 08 4C 1D 09 1C 25 0A 4C 1D 0B 7C 15 0C 4C 1D 0D 4C 1D 0E 4C 1D 0F 4C 1D 10 4C 1D 11 4C 1D 12 4C 1D 13 4C 1D 14 4C 1D 15 4C 1D 16 4C 1D 17 4C 1D 18 4C 1D 1A 4C 1D 1C 4C 1D D9";
Debug.Log(pose);
//仮でwaitは0.05秒*12 = 600ms掛かっているけど、0.01秒刻みだと転送間に合わないことがあった
//応答性を上げるにはwait設定を詰めたり、ベリファイダンプをしないようにしたり、いろいろな手がありそう～！
//直感的には3FPSくらいまではツメられそう。
float waitSec = 0.05f;
byte[] data1 = PreMaidUtility.BuildByteDataFromStringOrder("07 01 00 02 00 02 06");
serialPort_.Write(data1, 0, data1.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data2 = PreMaidUtility.BuildByteDataFromStringOrder("07 01 00 08 00 02 0C");
serialPort_.Write(data2, 0, data2.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data3 = PreMaidUtility.BuildByteDataFromStringOrder("08 02 00 08 00 FF FF 02");
serialPort_.Write(data3, 0, data3.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data4 = PreMaidUtility.BuildByteDataFromStringOrder("04 04 00 00");//フラッシュのライトプロテクト解除？
serialPort_.Write(data4, 0, data4.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data5 = PreMaidUtility.BuildByteDataFromStringOrder("5c 1d 00 00 00"); //転送コマンド？
serialPort_.Write(data5, 0, data5.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data6 = PreMaidUtility.BuildByteDataFromStringOrder(PreMaidUtility.RewriteXorString(pose)); //対象のモーション、今回は1個だけ
serialPort_.Write(data6, 0, data6.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data7 = PreMaidUtility.BuildByteDataFromStringOrder("04 17 00 13 ff ff 41"); //不明
serialPort_.Write(data7, 0, data7.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data8 = PreMaidUtility.BuildByteDataFromStringOrder("05 1E 00 01 1A");
serialPort_.Write(data8, 0, data8.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data9 = PreMaidUtility.BuildByteDataFromStringOrder("05 1C 00 01 18"); //ベリファイダンプ要請
serialPort_.Write(data9, 0, data9.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data10 = PreMaidUtility.BuildByteDataFromStringOrder("08 02 00 08 00 08 00 0A");//モーションデータ転送終了
serialPort_.Write(data10, 0, data10.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data11 = PreMaidUtility.BuildByteDataFromStringOrder("04 04 00 00");//フラッシュのライトプロテクトを掛ける？
serialPort_.Write(data11, 0, data11.Length);
yield return(new WaitForSeconds(waitSec));
byte[] data12 = PreMaidUtility.BuildByteDataFromStringOrder("05 1F 00 01 1B");//01番モーション再生
serialPort_.Write(data12, 0, data12.Length);
yield return(new WaitForSeconds(waitSec));
}
/// <summary>
/// 7500だったら"4C 1D"が返ってくる
/// </summary>
/// <returns></returns>
public string GetServoValueString()
{
var tmp = PreMaidUtility.ConvertEndian(((int)currentServoValue).ToString("X2"));
return($"{tmp[0]}{tmp[1]} {tmp[2]}{tmp[3]}");
}