void Start()
{
rigidbody = GetComponent <Rigidbody> ();
lastLinearPosition = Vector3.zero;
lastAngularPosition = 0f;
paused = false;
startTime = Time.time;
startPosition = transform.position;
if (FinishCanvas != null)
{
FinishCanvas.gameObject.SetActive(false);
}
//SETTINGS
squaredMovement = PlayerPrefs.GetInt("SquaredMovement") == 1 ? true : false;
speedLinear = PlayerPrefs.GetFloat("RobotSpeed");
speedAngular = speedLinear * 10f;
driveMode = PlayerPrefs.GetString("DefaultDriveMode").Equals("Tank") ? DriveModes.Tank : DriveModes.Mecanum;
uiController.UpdateDriveMode(PlayerPrefs.GetString("DefaultDriveMode").Equals("Tank") ? "Tank Drive" : "Mecanum Drive");
PauseCanvas.transform.GetChild(1).GetComponent <Dropdown> ().value = driveMode == DriveModes.Tank ? 0 : 1;
}
public TP(ushort id, SubP p) : base(id, p)
{
loopturn = false;
NormWhAng = 35; Tangle = 0;
switchingsusp = false;
SuspensionMode = SuspensionModes.sport; DriveMode = DriveModes.full;
FirstStr = ""; SecondStr = "";
Wheels = new List <IMyMotorSuspension>();
if (
(DriverLCD = OS.GTS.GetBlockWithName("Screen Driver") as IMyTextPanel) == null ||
(WheelLF = OS.GTS.GetBlockWithName("Wheel Suspension 3x3 LF") as IMyMotorSuspension) == null ||
(WheelRF = OS.GTS.GetBlockWithName("Wheel Suspension 3x3 RF") as IMyMotorSuspension) == null ||
(WheelLB = OS.GTS.GetBlockWithName("Wheel Suspension 3x3 LB") as IMyMotorSuspension) == null ||
(WheelRB = OS.GTS.GetBlockWithName("Wheel Suspension 3x3 RB") as IMyMotorSuspension) == null ||
(RemoteDriver = OS.GTS.GetBlockWithName("Control car") as IMyRemoteControl) == null ||
(RotorRull = OS.GTS.GetBlockWithName("Rotor rull") as IMyMotorStator) == null
)
{
Terminate("Kontur blocks not found.");
return;
}
Wheels = new List <IMyMotorSuspension>()
{
WheelLF, WheelRF, WheelLB, WheelRB
};
string saved = DriverLCD.GetText();
if (string.IsNullOrEmpty(saved))
{
if (saved.Contains("front"))
{
DriveMode = DriveModes.front;
}
else if (saved.Contains("rear"))
{
DriveMode = DriveModes.rear;
}
if (saved.Contains("off-road"))
{
SuspensionMode = SuspensionModes.offroad;
}
if (saved.Contains("looper"))
{
loopturn = true;
}
}
ChangeFirst();
AddAct(ref MA, Main, 1);
SetCmd(new Dictionary <string, Cmd>
{
{ "sdm", new Cmd(CmdSDM, "Switch drive mode Full/Front/Rear.") },
{ "ssm", new Cmd(CmdSSM, "Switch suspension mode Sport/Off road.") },
{ "sl", new Cmd(CmdSL, "Switch loopturn mode.") }
});
}
public void setDriveMode()
{
int index = PauseCanvas.transform.GetChild(1).GetComponent <Dropdown> ().value;
if (index == 0)
{
driveMode = DriveModes.Tank;
}
else if (index == 1)
{
driveMode = DriveModes.Mecanum;
}
uiController.UpdateDriveMode(index == 0 ? "Tank" : "Mecanum");
}
public void UpdateDriveModes()
{
DriveModes driveMode;
foreach (Subsystem subsystem in DiscoveredSubsystems)
{
foreach (Node node in subsystem.NodeList)
{
foreach (Component component in node.ComponentList)
{
foreach (BaseService service in component.Services)
{
switch (service.ServiceName)
{
case LocalVectorDriver.SERVICE_NAME:
driveMode = new DriveModes(this, component, remoteVelocityStateDriverService, LocalVectorDriver.SERVICE_NAME);
discoveredDriveModes.Add(component.JausAddress.Value, driveMode);
observableDriveModes.Add(driveMode);
break;
case VelocityStateDriver.SERVICE_NAME:
if (discoveredDriveModes.ContainsKey(component.JausAddress.Value))
{
break;
}
driveMode = new DriveModes(this, component, remoteVelocityStateDriverService, VelocityStateDriver.SERVICE_NAME);
discoveredDriveModes.Add(component.JausAddress.Value, driveMode);
observableDriveModes.Add(driveMode);
break;
case PrimitiveDriver.SERVICE_NAME:
if (discoveredDriveModes.ContainsKey(component.JausAddress.Value))
{
break;
}
driveMode = new DriveModes(this, component, remotePrimitiveDriverService, PrimitiveDriver.SERVICE_NAME);
discoveredDriveModes.Add(component.JausAddress.Value, driveMode);
observableDriveModes.Add(driveMode);
break;
}
}
}
}
}
}
string CmdSDM(List <string> a)
{
if (DriveMode == DriveModes.rear)
{
DriveMode = DriveModes.full;
}
else
{
DriveMode++;
}
switch (DriveMode)
{
case DriveModes.full:
WheelLB.Propulsion = true;
WheelRB.Propulsion = true;
WheelLF.Propulsion = true;
WheelRF.Propulsion = true;
break;
case DriveModes.front:
WheelLB.Propulsion = false;
WheelRB.Propulsion = false; // Turn off rear
WheelLF.Propulsion = true;
WheelRF.Propulsion = true; // Turn on front
break;
case DriveModes.rear:
WheelLB.Propulsion = true;
WheelRB.Propulsion = true; // Turn on rear
WheelLF.Propulsion = false;
WheelRF.Propulsion = false; // Turn off front
break;
}
ChangeFirst();
return("");
}
/// <summary>
/// Set the drive mode of the robot to the one given
/// </summary>
/// <param name="driveMode">The drive mode to set the robot to</param>
public static void SetDriveMode(DriveModes driveMode)
{
EnsureJavaClassExists();
genieInterfaceJavaClass.CallStatic("SetDriveMode", (int)driveMode);
}
