public SmartQuadrupedController(QuadrupedIkDriver driver)
{
_driver = driver ?? throw new ArgumentNullException(nameof(driver));
_driver.Setup();
_lastWrittenPosition = _driver.ReadCurrentLegPositions();
Task.Run(MainControllerLoop).ConfigureAwait(false);
}
public void DetachDriver()
{
if (!_engineTask.IsCompleted)
{
throw new InvalidOperationException("Engine has to be stopped before detaching the driver");
}
Driver = null;
}
public InterpolationGaitEngine(QuadrupedIkDriver driver) : base(driver)
{
Driver.Setup();
_lastWrittenPosition = Driver.ReadCurrentLegPositions();
if (_moves.TryDequeue(out var deqeueuedLegPosition))
{
_nextMove = deqeueuedLegPosition;
}
StartEngine();
}
public FunctionalGaitEngine(QuadrupedIkDriver driver) : base(driver)
{
Driver.Setup();
var currentPosition = driver.ReadCurrentLegPositions();
float average = (currentPosition.LeftFront.Z +
currentPosition.RightFront.Z +
currentPosition.LeftRear.Z +
currentPosition.RightRear.Z) / 4;
if (average > -9)
{
Driver.MoveLegsSynced(RelaxedStance.Transform(new Vector3(0, 0, -LegHeight)));
Thread.Sleep(1000);
}
_lastWrittenPosition = RelaxedStance;
Driver.MoveLegsSynced(_lastWrittenPosition);
StartEngine();
}
protected QuadrupedGaitEngine(QuadrupedIkDriver driver)
{
Driver = driver ?? throw new ArgumentNullException(nameof(driver));
}