public int maxSpeed = 100; //0-100
public void Update()
{
//See if remote control request has been made yet:
if (remoteReceiveTimer > 0)
{
remoteReceiveTimer -= Time.deltaTime;
}
//Check if left or right turn buttons are pressed:
float horizontal, vertical = 0;
horizontal = joystick.GetX(); vertical = joystick.GetY();
if (leftRotateButton != null && leftRotateButton.pressed)
{
horizontal = 1; vertical = 0;
}
else if (rightRotateButton != null && rightRotateButton.pressed)
{
horizontal = -1; vertical = 0;
}
//Update tank every time serial is ready to push another message
if (serialTimer > 0)
{
serialTimer -= Time.deltaTime;
}
else
{
serialTimer = serialTime;
//If USB Serial, let incoming Bluetooth/UDP messages override joystick
if (sendMode == SendMode.SERIAL)
{
if (remoteReceiveTimer > 0)
{
controlTank(remoteX, remoteY);
}
else
{
controlTank(horizontal, vertical);
}
}
//If Bluetooth or UDP, send data from Joystick to face device.
else if (sendMode == SendMode.BLUETOOTH || sendMode == SendMode.UDP)
{
controlTank(horizontal, vertical);
}
//If Misty, send data from Joystick to Misty device.
else if (sendMode == SendMode.MISTY)
{
if (leftRotateButton.pressed || rightRotateButton.pressed)
{
misty.DriveTrack((int)(vertical * maxSpeed) - (int)(horizontal * maxSpeed), (int)(vertical * maxSpeed) + (int)(horizontal * maxSpeed));
//misty.DriveTime((int)(vertical*maxSpeed), -(int)(horizontal*maxSpeed), 1000);
//misty.Drive((int)(vertical*maxSpeed), -(int)(horizontal*maxSpeed));
}
else if (new Vector2(joystick.GetX(), joystick.GetY()).magnitude > 0.05f)
{
//misty.DriveTrack((int)(vertical*maxSpeed) - (int)(horizontal*maxSpeed), (int)(vertical*maxSpeed) + (int)(horizontal*maxSpeed));
//misty.DriveTime((int)(vertical*maxSpeed), -(int)(horizontal*maxSpeed), 1000);
misty.Drive((int)(vertical * maxSpeed), -(int)(horizontal * maxSpeed));
}
else
{
misty.Stop();
}
}
}
}
public void Update()
{
//See if remote control request has been made yet:
if (remoteReceiveTimer > 0)
{
remoteReceiveTimer -= Time.deltaTime;
}
//Check if left or right turn buttons are pressed:
float horizontal, vertical = 0;
horizontal = joystick.GetX(); vertical = joystick.GetY();
if (leftRotateButton != null && leftRotateButton.pressed)
{
horizontal = -1; vertical = 0;
}
else if (rightRotateButton != null && rightRotateButton.pressed)
{
horizontal = 1; vertical = 0;
}
//Update tank every time serial is ready to push another message
if (serialTimer > 0)
{
serialTimer -= Time.deltaTime;
}
else
{
serialTimer = serialTime;
//If USB Serial, let incoming Bluetooth/UDP messages override joystick
/* if(sendMode == SendMode.SERIAL) {
* if(remoteReceiveTimer > 0) { controlTank(remoteX, remoteY); }
* else { controlTank(horizontal, vertical); }
* }
* //If Bluetooth or UDP, send data from Joystick to face device.
* else if(sendMode == SendMode.BLUETOOTH || sendMode == SendMode.UDP) {
* controlTank(horizontal, vertical);
* } */
//If Misty, send data from Joystick to Misty device.
if (sendMode == SendMode.MISTY)
{
if (leftRotateButton.pressed || rightRotateButton.pressed)
{
//misty.DriveTrack((int)(vertical*maxSpeed) - (int)(horizontal*maxSpeed), (int)(vertical*maxSpeed) + (int)(horizontal*maxSpeed));
//misty.DriveTime((int)(vertical*maxSpeed), -(int)(horizontal*maxSpeed), (int)(serialTime*2000));
misty.Drive((int)(vertical * maxSpeed), -(int)(horizontal * maxSpeed));
stopped = false;
}
else if (new Vector2(joystick.GetX(), joystick.GetY()).magnitude > 0.05f)
{
//misty.DriveTrack((int)(vertical*maxSpeed) - (int)(horizontal*maxSpeed), (int)(vertical*maxSpeed) + (int)(horizontal*maxSpeed));
//misty.DriveTime((int)(vertical*maxSpeed), -(int)(horizontal*maxSpeed), (int)(serialTime*2000));
misty.Drive((int)(vertical * maxSpeed), -(int)(horizontal * maxSpeed));
stopped = false;
}
else
{
//misty.Halt();
//Stop misty immediately
if (!stopped)
{
misty.Drive(0, 0);
misty.Stop();
misty.DisableHazardSensors(); //also disable hazard sensors
stopped = true;
}
//If for whatever reason Misty didn't stop, stop again every x counts to be safe.
stopCounter++;
if (stopCounter == 30)
{
stopCounter = 0;
misty.Drive(0, 0);
misty.Stop();
misty.DisableHazardSensors(); //also disable hazard sensors
}
}
}
}
}