private void callCommand(string message)
{
string[] args = message.Split(' ');
if (args[0] == "connectPlz")
{
sendMessage("ok connected");
return;
}
if (args[0] == "stop")
{
print("done");
enabled = false;
return;
}
if (args[0] != "robocommand")
{
return;
}
switch (args[1])
{
case "setMaxForwardVel":
roboController.setMaxForwardVel(float.Parse(args[2]));
break;
case "setMaxSideVel":
roboController.setMaxSideVel(float.Parse(args[2]));
break;
case "setMaxTurnVel":
roboController.setMaxTurnVel(float.Parse(args[2]));
break;
case "setForwardVel":
roboController.setForwardVel(float.Parse(args[2]));
break;
case "setSideVel":
roboController.setSideVel(float.Parse(args[2]));
break;
case "setTurnVel":
roboController.setTurnVel(float.Parse(args[2]));
break;
case "kill":
tcpListener.Stop();
readyToKill = true;
break;
default:
break;
}
//sendMessage(" command executed");
}
public void setRobotVals()
{
controller.setMaxForwardVel(5);
controller.setMaxSideVel(5);
controller.setMaxTurnVel(90);
controller.setForwardVel(1);
controller.setSideVel(1);
controller.setTurnVel(1);
}