private void Start()
{
_ballData = new BallData(
_ballDataDebugView,
_predictedPositionVisualizer,
_gradientDescentX,
_gradientDescentY,
_gradientDescentZ);
_strategies.Add(BallControlStrategyFactory.GoTo(0.01f));
_strategies.Add(BallControlStrategyFactory.GoTo(0.05f));
_strategies.Add(BallControlStrategyFactory.GoToWhenBallOnPlate(0.01f));
_strategies.Add(BallControlStrategyFactory.GoToWhenBallOnPlate(0.05f));
GetBallBouncing();
_strategies.Add(BallControlStrategyFactory.Continuous2StepBouncing(20, AnalyticalTiltController.Instance));
_strategies.Add(BallControlStrategyFactory.Continuous2StepBouncing(20, AnalyticalTiltController.Instance, new Vector2(40f, 0f)));
_strategies.Add(BallControlStrategyFactory.Continuous2StepBouncing(20, AnalyticalTiltController.Instance, new Vector2(0f, 0f)));
_strategies.Add(BallControlStrategyFactory.Continuous2StepBouncing(20, AnalyticalTiltController.Instance, new Vector2(-40f, 0f)));
_strategies.Add(BallControlStrategyFactory.Continuous2StepBouncing(20, AnalyticalTiltController.Instance, new Vector2(0f, 0f)));
_strategies.Add(BallControlStrategyFactory.Continuous2StepBouncing(20, AnalyticalTiltController.Instance, new Vector2(40f, 0f)));
_strategies.Add(BallControlStrategyFactory.Continuous2StepBouncing(20, AnalyticalTiltController.Instance, new Vector2(0f, 0f)));
_strategies.Add(BallControlStrategyFactory.Continuous2StepBouncing(20, AnalyticalTiltController.Instance, new Vector2(-40f, 0f)));
for (int i = 0; i < 5; i++)
{
_strategies.Add(
BallControlStrategyFactory.ContinuousBouncing(5, AnalyticalTiltController.Instance));
_strategies.Add(
BallControlStrategyFactory.ContinuousBouncingStrong(1, AnalyticalTiltController.Instance));
_strategies.Add(BallControlStrategyFactory.Balancing(0.05f, 8, Vector2.zero,
AnalyticalTiltController.Instance));
}
_strategies.Add(BallControlStrategyFactory.GoTo(0.01f));
_strategies.Add(BallControlStrategyFactory.GoTo(0.08f));
_strategies.Add(BallControlStrategyFactory.GoTo(0.05f));
GetBallBouncing();
_strategies.Add(BallControlStrategyFactory.ContinuousBouncing(20, AnalyticalTiltController.Instance));
for (int i = 0; i < 5; i++)
{
_strategies.Add(
BallControlStrategyFactory.ContinuousBouncing(5, AnalyticalTiltController.Instance));
_strategies.Add(
BallControlStrategyFactory.ContinuousBouncingStrong(1, AnalyticalTiltController.Instance));
_strategies.Add(
BallControlStrategyFactory.Balancing(0.05f, 8, Vector2.zero, AnalyticalTiltController.Instance));
}
_strategies.Add(BallControlStrategyFactory.GoTo(0.01f));
}
private void Start()
{
_ballData = new BallData(_velocityDebugView);
_ballControlStrategies.Add(BallControlStrategyFactory.GoTo(0.01f));
_ballControlStrategies.Add(BallControlStrategyFactory.GoTo(0.05f));
for (int i = 0; i < 5; i++)
{
_ballControlStrategies.Add(BallControlStrategyFactory.ContinuousBouncing(5));
_ballControlStrategies.Add(BallControlStrategyFactory.ContinuousBouncingStrong(1));
}
_ballControlStrategies.Add(BallControlStrategyFactory.ContinuousBouncing(10000));
for (int i = 0; i < 5; i++)
{
_ballControlStrategies.Add(BallControlStrategyFactory.ContinuousBouncing(5));
_ballControlStrategies.Add(BallControlStrategyFactory.ContinuousBouncingStrong(1));
_ballControlStrategies.Add(BallControlStrategyFactory.BalancingAtHeight(0.05f, 10));
}
_ballControlStrategies.Add(BallControlStrategyFactory.GoTo(0.01f));
_ballControlStrategies.Add(BallControlStrategyFactory.GoTo(0.08f));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(0f, 0f), 15));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateCircleBalancing(40f, 100));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(0f, 0f), 20));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(-40f, 0f), 20));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(40f, 0f), 20));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(0, 40f), 20));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(0, -40f), 20));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(-35, -35f), 20));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(35, 35f), 20));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(35, -35f), 20));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(-35, 35f), 20));
_ballControlStrategies.Add(BallControlStrategyFactory.HighPlateBalancingAt(new Vector2(0f, 0f), 20));
_ballControlStrategies.Add(BallControlStrategyFactory.GoTo(0.01f));
_ballControlStrategies.Add(BallControlStrategyFactory.GoTo(0.05f));
for (int i = 0; i < 5; i++)
{
_ballControlStrategies.Add(BallControlStrategyFactory.ContinuousBouncing(5));
_ballControlStrategies.Add(BallControlStrategyFactory.ContinuousBouncingStrong(1));
}
_ballControlStrategies.Add(BallControlStrategyFactory.ContinuousBouncing(20));
for (int i = 0; i < 5; i++)
{
_ballControlStrategies.Add(BallControlStrategyFactory.ContinuousBouncing(5));
_ballControlStrategies.Add(BallControlStrategyFactory.ContinuousBouncingStrong(1));
_ballControlStrategies.Add(BallControlStrategyFactory.BalancingAtHeight(0.05f, 10));
}
_ballControlStrategies.Add(BallControlStrategyFactory.GoTo(0.01f));
}
public bool Execute(BallData ballData, MachineController machineController)
{
var instructionsSent = _executeFunc(ballData, machineController, _instructionsSentCount);
if (instructionsSent)
{
_instructionsSentCount++;
}
return(_instructionsSentCount >= _duration);
}
public static void MoveToHeightWithXYTiltCorrection(MachineController machineController,
ITiltController tiltController, BallData ballData, float height, float moveTime,
Vector2?target)
{
var tilt = tiltController.CalculateTilt(
new Vector2(ballData.CurrentPositionVector.x, ballData.CurrentPositionVector.y),
new Vector2(ballData.CurrentVelocityVector.x, ballData.CurrentVelocityVector.y),
target ?? Vector2.zero,
ballData.CalculatedOnBounceDownwardsVelocity,
ballData.AirborneTime);
var xCorrection = Mathf.Clamp(tilt.xTilt, c.MinTiltAngle, c.MaxTiltAngle);
var yCorrection = Mathf.Clamp(tilt.yTilt, c.MinTiltAngle, c.MaxTiltAngle);
machineController.SendInstructions(new List <HLInstruction>()
{
new HLInstruction(height, xCorrection, yCorrection, moveTime),
});
}
private void Start()
{
_ballData = new BallData(
_ballDataDebugView,
_predictedPositionVisualizer,
_gradientDescentX,
_gradientDescentY,
_gradientDescentZ);
_strategies.Add(BallControlStrategyFactory.GoTo(0.01f));
_strategies.Add(BallControlStrategyFactory.GoTo(0.05f));
_strategies.Add(BallControlStrategyFactory.GoToWhenBallOnPlate(0.01f));
_strategies.Add(BallControlStrategyFactory.GoToWhenBallOnPlate(0.05f));
GetBallBouncing(() =>
{
_onCheckPointPassedSubject.OnNext(1);
_machineStateView.Set("Get Ball Bouncing", MachineStateView.TiltControlType.PIDTiltController);
});
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
action: () => _machineStateView.Set("Two Step Bouncing",
MachineStateView.TiltControlType.AnalyticalTiltControl)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(40, AnalyticalTiltController.Instance,
action: () => _onCheckPointPassedSubject.OnNext(2)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
action: () => _onCheckPointPassedSubject.OnNext(3)));
CircleBouncing(10, () => _machineStateView.Set("Circle Bouncing",
MachineStateView.TiltControlType.AnalyticalTiltControl));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
new Vector2(40f, 0f), action: () => _machineStateView.Set("Two Step Bouncing",
MachineStateView.TiltControlType.AnalyticalTiltControl)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
new Vector2(0f, 0f)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
new Vector2(-40f, 0f)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
new Vector2(0f, 0f)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
new Vector2(40f, 0f)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
new Vector2(0f, 0f)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
new Vector2(-40f, 0f)));
for (int i = 0; i < 5; i++)
{
_strategies.Add(
BallControlStrategyFactory.Bouncing(5, AnalyticalTiltController.Instance));
_strategies.Add(
BallControlStrategyFactory.BouncingStrong(1, AnalyticalTiltController.Instance));
_strategies.Add(BallControlStrategyFactory.Balancing(0.05f, 8, Vector2.zero,
AnalyticalTiltController.Instance));
}
_strategies.Add(BallControlStrategyFactory.GoTo(0.01f));
_strategies.Add(BallControlStrategyFactory.GoTo(0.08f));
_strategies.Add(BallControlStrategyFactory.GoTo(0.05f));
GetBallBouncing();
_strategies.Add(BallControlStrategyFactory.Bouncing(20, AnalyticalTiltController.Instance));
for (int i = 0; i < 5; i++)
{
_strategies.Add(
BallControlStrategyFactory.Bouncing(5, AnalyticalTiltController.Instance));
_strategies.Add(
BallControlStrategyFactory.BouncingStrong(1, AnalyticalTiltController.Instance));
_strategies.Add(
BallControlStrategyFactory.Balancing(0.05f, 8, Vector2.zero, AnalyticalTiltController.Instance));
}
_strategies.Add(BallControlStrategyFactory.GoTo(0.01f));
}
