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--; } } } } }