public void MultiTargetMove(
int[] targetXList,
int[] targetYList,
int[] targetAngleList,
Cube.TargetRotationType[] multiRotationTypeList,
int configID,
int timeOut,
Cube.TargetMoveType targetMoveType,
int maxSpd,
Cube.TargetSpeedType targetSpeedType,
Cube.MultiWriteType multiWriteType
)
{
DelayCommand(() => impl.MultiTargetMove(targetXList, targetYList, targetAngleList, multiRotationTypeList, configID, timeOut, targetMoveType, maxSpd, targetSpeedType, multiWriteType));
}
// COMMAND API
public override void MultiTargetMove(
int[] targetXList,
int[] targetYList,
int[] targetAngleList,
Cube.TargetRotationType[] multiRotationTypeList,
int configID,
int timeOut,
Cube.TargetMoveType targetMoveType,
int maxSpd,
Cube.TargetSpeedType targetSpeedType,
Cube.MultiWriteType multiWriteType
)
{
#if !RELEASE
if (targetXList.Length == 0 || targetYList.Length == 0 || targetAngleList.Length == 0 ||
!(targetXList.Length == targetYList.Length && targetYList.Length == targetAngleList.Length))
{
Debug.LogErrorFormat("[Cube.TargetMove]座標・角度リストのサイズが不一致または０. targetXList.Length={0}, targetYList.Length={1}, targetAngleList.Length={2}", targetXList.Length, targetYList.Length, targetAngleList.Length);
}
if (255 < configID)
{
Debug.LogErrorFormat("[Cube.TargetMove]制御識別値範囲を超えました. configID={0}", configID);
}
if (255 < timeOut)
{
Debug.LogErrorFormat("[Cube.TargetMove]制御時間範囲を超えました. timeOut={0}", timeOut);
}
if (this.maxMotor < maxSpd)
{
Debug.LogErrorFormat("[Cube.TargetMove]速度範囲を超えました. maxSpd={0}", maxSpd);
}
#endif
MotorMultiTargetCmd cmd = new MotorMultiTargetCmd();
cmd.xs = Array.ConvertAll(targetXList, new Converter <int, ushort>(x => (ushort)(x == -1?65535:Mathf.Clamp(x, 0, 65534))));
if (cmd.xs.Length == 0)
{
return;
}
cmd.xs = cmd.xs.Take(29).ToArray();
cmd.ys = Array.ConvertAll(targetYList, new Converter <int, ushort>(x => (ushort)(x == -1?65535:Mathf.Clamp(x, 0, 65534))));
if (cmd.ys.Length == 0)
{
return;
}
cmd.ys = cmd.ys.Take(29).ToArray();
cmd.degs = Array.ConvertAll(targetAngleList, new Converter <int, ushort>(x => (ushort)x));
if (cmd.degs.Length == 0)
{
return;
}
cmd.degs = cmd.degs.Take(29).ToArray();
cmd.rotTypes = multiRotationTypeList != null? multiRotationTypeList : new Cube.TargetRotationType[cmd.xs.Length];
cmd.configID = (byte)Mathf.Clamp(configID, 0, 255);
cmd.timeOut = (byte)Mathf.Clamp(timeOut, 0, 255);
cmd.maxSpd = (byte)Mathf.Clamp(maxSpd, 0, this.maxMotor);
cmd.targetMoveType = targetMoveType;
cmd.targetSpeedType = targetSpeedType;
cmd.multiWriteType = multiWriteType;
cmd.tRecv = Time.time;
MotorSetCmd(MotorCmdType.MotorMultiTargetCmd, cmd);
}
