public static void createMotors(LegController l)
{
l.walkMotor.maxMotorTorque = l.maxWalkForce;
l.walkMotor.motorSpeed = -l.desiredWalkPower;
l.opposedMotor.maxMotorTorque = l.maxWalkForce;
l.opposedMotor.motorSpeed = l.desiredWalkPower;
l.setMotor.maxMotorTorque = l.maxWalkForce;
l.setMotor.motorSpeed = 0;
}
public static void updateMotor(LegController lc, HingeJoint2D j, MotorMotion m)
{
switch (m) {
case MotorMotion.FREE:
j.useMotor = false;
break;
case MotorMotion.BACKWARD:
j.useMotor = true;
j.motor = lc.opposedMotor;
break;
case MotorMotion.FORWARD:
j.useMotor = true;
j.motor = lc.walkMotor;
break;
case MotorMotion.SET:
j.useMotor = true;
j.motor = lc.setMotor;
break;
default:
break;
}
}
/*
public static IEnumerator advanceOneLeg (LegController c, Leg advancingLeg, Leg helpingLeg)
{
yield return new WaitForFixedUpdate ();
if(c.owner.legsPattern1.pauseOnStateChange) {
Debug.Log("Breaking for change to pattern 1");
Debug.Break();
yield return new WaitForFixedUpdate ();
}
LegController.updateMotors (advancingLeg, advancingLeg.owner.legsPattern1.advancer.thigh, advancingLeg.owner.legsPattern1.advancer.shin);
LegController.updateMotors (helpingLeg, helpingLeg.owner.legsPattern1.helper.thigh, helpingLeg.owner.legsPattern1.helper.shin);
while (advancingLeg.hipToKnee.jointAngle - 1f > advancingLeg.hipToKneeTargetAngle) {
yield return new WaitForFixedUpdate ();
}
if(advancingLeg.owner.legsPattern2.pauseOnStateChange) {
Debug.Log("Breaking for change to pattern 2");
Debug.Break();
yield return new WaitForFixedUpdate ();
}
LegController.updateMotors (advancingLeg, advancingLeg.owner.legsPattern2.advancer.thigh, advancingLeg.owner.legsPattern2.advancer.shin);
LegController.updateMotors (helpingLeg, helpingLeg.owner.legsPattern2.helper.thigh, helpingLeg.owner.legsPattern2.helper.shin);
while (advancingLeg.kneeToFoot.jointAngle - 1f > advancingLeg.kneeToFootTargetAngle) {
yield return new WaitForFixedUpdate ();
}
}*/
public static IEnumerator walkRoutine(LegController c, Leg leg1, Leg leg2)
{
LegController.createMotors(c);
//yield return leg1.owner.StartCoroutine(advanceOneLeg (leg1, leg2));
//yield return leg2.owner.StartCoroutine(advanceOneLeg (leg2, leg1));
yield return null;
}
public static void updateMotors(LegController lc, Leg l, MotorMotion h2k, MotorMotion k2f)
{
updateMotor(lc, l.rootToBend,h2k);
updateMotor(lc, l.bendToEnd,k2f);
l.state = "HipKnee: " + h2k + ", KneeFoot: " + k2f;
}