private void OnCarGameBtnClick()
{
isCarGame = false;
timerInit = new System.Timers.Timer();
timerInit.Interval = 10000; //Wait for 10 seconds
timerInit.Elapsed += CarGameStart; //Hook up the elapsed event for the timer
timerInit.AutoReset = false; //Have the timer fire repeated events(true is the default)
timerInit.Enabled = false;
timerInit.Start();
float M2_SIZE_X = (float)(0.551 + 0.022) / 2;
DynaLinkHS.CmdPassiveMovementControl((-0.022f + 0.551f) / 2, (0.02f + 0.2417f) / 2, (float)0.05);
}
public static void Cmd2Robot()
{
// CMD: M2 move to starting point
string taskPointKey = SetYaml.taskNames[blockNum];
float[] taskPointValue = new float[2];
SetYaml.startPointDic.TryGetValue(taskPointKey, out taskPointValue);
print(taskPointKey);
DynaLinkHS.CmdPassiveMovementControl(taskPointValue[0], taskPointValue[1], (float)0.08);
timeLine += Time.deltaTime;
csvContent.AppendLine((float)timeLine + "," + trials + "," + "CMDM2Reset" + "," + DynaLinkHS.StatusRobot.PositionDataJoint1 + "," + DynaLinkHS.StatusRobot.PositionDataJoint2);
RunFSM.currState = RunFSM.GameState_Enum.STATE_MOVE2START;
RunFSM.EMG.StartRecording();// start record sEMG
}
// Use this for initialization
void Start()
{
DynaLinkHS.CmdTransparentControl(5f, 5f, 10f, 10f, 10f, 10f, 10f, 10f);
//DynaLinkHS.CmdServoOff();
///*
// Initiate Hand Effector Position
///*
screenSize = Camera.main.ScreenToWorldPoint(new Vector2(Screen.width, Screen.height)); // 尺寸的一半
print(screenSize); // screen size
float M2_SIZE_X = (M2_AXIS_X[1] - M2_AXIS_X[0]) / 2;
float M2_SIZE_Y = (M2_AXIS_Y[1] - M2_AXIS_Y[0]) / 2;
xOffset = (screenSize.x) / M2_SIZE_X;
yOffset = (screenSize.y) / M2_SIZE_Y;
DynaLinkHS.CmdPassiveMovementControl((M2_AXIS_X[1] + M2_AXIS_X[0]) / 2, (M2_AXIS_Y[1] + M2_AXIS_Y[0]) / 2, (float)0.05);
///*
// Initiate Control Mode(mass/damping/spring)
/// for M2, the parameters are
/// - origin/target position x [原始/目标位置 x 轴] (type : float, unit : m, range : )
/// - origin/target position y [原始/目标位置 y 轴] (type : float, unit : m, range : )
/// - M (mass) x [模拟质量 x 轴] (type : float, unit : kg, range : )
/// - M (mass) y [模拟质量 y 轴] (type : float, unit : kg, range : )
/// - B (damping) x [模拟阻尼 x 轴] (type : float, unit : N/(m/s), range : )
/// - B (damping) y [模拟阻尼 y 轴] (type : float, unit : N/(m/s), range : )
/// - K (spring) x [模拟弹簧 x 轴] (type : float, unit : N/m, range : )
/// - K (spring) y [模拟弹簧 y 轴] (type : float, unit : N/m, range : )
///*
///*
/// Renew/Load .yaml
///*
//SetYaml.IniTaskInfo();// initiate .yaml
SetYaml.LoadTaskInfo();// load .yaml
timerStart = new Timer();
timerStart.Interval = 10000; //Wait for 10 seconds
timerStart.Elapsed += GameStart; //Hook up the elapsed event for the timer
timerStart.AutoReset = false; //Have the timer fire repeated events(true is the default)
timerStart.Enabled = false;
timerStart.Start();
}
