void Update()
{
//Read sensor values
float leftSensor = LeftLD.getLinearOutput();
float rightSensor = RightLD.getLinearOutput();
//Calculate target motor values
m_LeftWheelSpeed = (rightSensor * MaxSpeed) * 7;
m_RightWheelSpeed = (leftSensor * MaxSpeed) * 7;
}
// Update is called once per frame
void Update()
{
float leftSensor = LeftLD.getLinearOutput();
float rightSensor = RightLD.getLinearOutput();
m_LeftWheelSpeed = leftSensor * MaxSpeed;
m_RightWheelSpeed = rightSensor * MaxSpeed;
//Calculate target motor values
//A velocidade das rodas é inversamente proporcional ao output dos sensores
}
void Update()
{
//Read sensor values
float leftSensor = LeftLD.getLinearOutput();
float rightSensor = RightLD.getLinearOutput();
//Calculate target motor values
//Sensor da direita influencia roda da esquerda e vice-versa
m_LeftWheelSpeed = rightSensor * MaxSpeed;
m_RightWheelSpeed = leftSensor * MaxSpeed;
float westObjectSensor = westOD.getOutput();
float eastObjectSensor = eastOD.getOutput();
m_LeftWheelSpeed += (1 / westObjectSensor) * MaxSpeed;
m_RightWheelSpeed += (1 / eastObjectSensor) * MaxSpeed;
}
void Update()
{
//Read sensor values
//sensores de luz
float leftSensor = LeftLD.getLinearOutput();
float rightSensor = RightLD.getLinearOutput();
//sensores de proximidade
float leftRaySensor = RRcast.getDistancia();
float rightRaySensor = RRcast.getDistancia();
//Calculate target motor values
//usa a fórmula de relé (a+b-a*b)
//quando não detecta nada na proximidade são os sensores de luz que controlam as rodas, estando o da direita ligado ao esquerdo e vice-versa.
//quando detecta algo na frente ignora os imputs das luzes e gira as rodas em setidos opostos (com velocidade dependente da distância ao objecto) e vira-o para a dirita
//até não ter nada nos sensores, passando as luzes novamente a controlar as rodas.
m_LeftWheelSpeed = (((leftRaySensor + rightRaySensor) / 2) + rightSensor - ((leftRaySensor + rightRaySensor) / 2) * rightSensor) * MaxSpeed;
m_RightWheelSpeed = (-((leftRaySensor + rightRaySensor) / 2) + leftSensor - -(((leftRaySensor + rightRaySensor) / 2)) * leftSensor) * MaxSpeed;
}
void Update()
{
//Read sensor values
float leftSensor = LeftLD.getLinearOutput();
float rightSensor = RightLD.getLinearOutput();
//Calculate target motor values
//A velocidade das rodas é inversamente proporcional ao output dos sensores
m_LeftWheelSpeed = (1 / leftSensor) * MaxSpeed;
m_RightWheelSpeed = (1 / rightSensor) * MaxSpeed;
float westObjectSensor = westOD.getOutput();
float eastObjectSensor = eastOD.getOutput();
m_LeftWheelSpeed += (1 / westObjectSensor) * MaxSpeed;
m_RightWheelSpeed += (1 / eastObjectSensor) * MaxSpeed;
}
void Update()
{
//Read sensor values
float leftSensor = LeftLD.getLinearOutput();
float rightSensor = RightLD.getLinearOutput();
//Calculate target motor values
m_LeftWheelSpeed = leftSensor * MaxSpeed;
m_RightWheelSpeed = rightSensor * MaxSpeed;
float westObjectSensor = westOD.getOutput();
float eastObjectSensor = eastOD.getOutput();
m_LeftWheelSpeed += (1 / westObjectSensor) * MaxSpeed;
m_RightWheelSpeed += (1 / eastObjectSensor) * MaxSpeed;
//Calcular os outputs dos sensores
//Conforme os outputs rodar o carro
}
void Update()
{
//Read sensor values
float leftSensor = LeftLD.getLinearOutput();
float rightSensor = RightLD.getLinearOutput();
//Calculate target motor values
m_LeftWheelSpeed = leftSensor * MaxSpeed;
m_RightWheelSpeed = rightSensor * MaxSpeed;
//Calcular os outputs dos sensores
bool northSensor = northOD.getOutput();
bool southSensor = southOD.getOutput();
bool eastSensor = eastOD.getOutput();
bool westSensor = westOD.getOutput();
//Conforme os outputs rodar o carro
if (northSensor)
{
if (!eastSensor)
{
transform.root.transform.Rotate(0, 10, 0);
}
else if (!westSensor)
{
transform.root.transform.Rotate(0, -10, 0);
}
else if (!southSensor)
{
transform.root.transform.Rotate(0, 180, 0);
}
}
if (westSensor)
{
if (!northSensor)
{
transform.root.transform.Rotate(0, 0, 0);
}
else if (!eastSensor)
{
transform.root.transform.Rotate(0, 10, 0);
}
else if (!southSensor)
{
transform.root.transform.Rotate(0, 180, 0);
}
}
if (eastSensor)
{
if (!northSensor)
{
transform.root.transform.Rotate(0, 0, 0);
}
else if (!westSensor)
{
transform.root.transform.Rotate(0, -10, 0);
}
else if (!southSensor)
{
transform.root.transform.Rotate(0, 180, 0);
}
}
if (southSensor)
{
if (!eastSensor)
{
transform.root.transform.Rotate(0, 10, 0);
}
else if (!westSensor)
{
transform.root.transform.Rotate(0, -10, 0);
}
}
}
void Update()
{
//Read sensor values
float leftSensor = LeftLD.getLinearOutput();
float rightSensor = RightLD.getLinearOutput();
//Calculate target motor values
//A velocidade das rodas é inversamente proporcional ao output dos sensores
//Sensor da direita influencia roda da esquerda e vice-versa
Debug.Log(leftSensor);
m_LeftWheelSpeed = (1 / leftSensor) * MaxSpeed;
m_RightWheelSpeed = (1 / rightSensor) * MaxSpeed;
//Calcular os outputs dos sensores
bool northSensor = northOD.getOutput();
bool southSensor = southOD.getOutput();
bool eastSensor = eastOD.getOutput();
bool westSensor = westOD.getOutput();
//Conforme os outputs rodar o carro
if (northSensor)
{
if (!eastSensor)
{
transform.root.transform.Rotate(0, 10, 0);
}
else if (!westSensor)
{
transform.root.transform.Rotate(0, -10, 0);
}
else if (!southSensor)
{
transform.root.transform.Rotate(0, 180, 0);
}
}
if (westSensor)
{
if (!northSensor)
{
transform.root.transform.Rotate(0, 0, 0);
}
else if (!eastSensor)
{
transform.root.transform.Rotate(0, 10, 0);
}
else if (!southSensor)
{
transform.root.transform.Rotate(0, 180, 0);
}
}
if (eastSensor)
{
if (!northSensor)
{
transform.root.transform.Rotate(0, 0, 0);
}
else if (!westSensor)
{
transform.root.transform.Rotate(0, -10, 0);
}
else if (!southSensor)
{
transform.root.transform.Rotate(0, 180, 0);
}
}
if (southSensor)
{
if (!eastSensor)
{
transform.root.transform.Rotate(0, 10, 0);
}
else if (!westSensor)
{
transform.root.transform.Rotate(0, -10, 0);
}
}
}
