private static void startMov1(object source, System.Timers.ElapsedEventArgs e)
{
DynaLinkHS.CmdTransparentControl(0.2f, 0.2f, 1.0f, 1.0f, 10.0f, 10.0f, 10.0f, 10.0f);
DynaLinkHS.CmdServoOff();
SetYaml.LoadTaskInfo();// load .yaml file
print("初始化完成，实验开始");
// first block set
RunFSM.currState = RunFSM.GameState_Enum.STATE_BLOCKSET;
}
// Use this for initialization
void Start()
{
DynaLinkHS.CmdTransparentControl(5f, 5f, 10f, 10f, 10f, 10f, 10f, 10f);
//DynaLinkHS.CmdServoOff();
///*
// Initiate Hand Effector Position
///*
screenSize = Camera.main.ScreenToWorldPoint(new Vector2(Screen.width, Screen.height)); // 尺寸的一半
print(screenSize); // screen size
float M2_SIZE_X = (M2_AXIS_X[1] - M2_AXIS_X[0]) / 2;
float M2_SIZE_Y = (M2_AXIS_Y[1] - M2_AXIS_Y[0]) / 2;
xOffset = (screenSize.x) / M2_SIZE_X;
yOffset = (screenSize.y) / M2_SIZE_Y;
DynaLinkHS.CmdPassiveMovementControl((M2_AXIS_X[1] + M2_AXIS_X[0]) / 2, (M2_AXIS_Y[1] + M2_AXIS_Y[0]) / 2, (float)0.05);
///*
// Initiate Control Mode(mass/damping/spring)
/// for M2, the parameters are
/// - origin/target position x [原始/目标位置 x 轴] (type : float, unit : m, range : )
/// - origin/target position y [原始/目标位置 y 轴] (type : float, unit : m, range : )
/// - M (mass) x [模拟质量 x 轴] (type : float, unit : kg, range : )
/// - M (mass) y [模拟质量 y 轴] (type : float, unit : kg, range : )
/// - B (damping) x [模拟阻尼 x 轴] (type : float, unit : N/(m/s), range : )
/// - B (damping) y [模拟阻尼 y 轴] (type : float, unit : N/(m/s), range : )
/// - K (spring) x [模拟弹簧 x 轴] (type : float, unit : N/m, range : )
/// - K (spring) y [模拟弹簧 y 轴] (type : float, unit : N/m, range : )
///*
///*
/// Renew/Load .yaml
///*
//SetYaml.IniTaskInfo();// initiate .yaml
SetYaml.LoadTaskInfo();// load .yaml
timerStart = new Timer();
timerStart.Interval = 10000; //Wait for 10 seconds
timerStart.Elapsed += GameStart; //Hook up the elapsed event for the timer
timerStart.AutoReset = false; //Have the timer fire repeated events(true is the default)
timerStart.Enabled = false;
timerStart.Start();
}
//load task information to .YAML file
void LoadBtnClick()
{
/*
* get info in text and inputfield
* */
string subjectName = TaskSetting.nameInput.text;
List <string> startPoint = new List <string>()
{
TaskSetting.task1StartTxt.text, TaskSetting.task2StartTxt.text, TaskSetting.task3StartTxt.text, TaskSetting.task4StartTxt.text,
};
List <string> endPoint = new List <string>()
{
TaskSetting.task1EndTxt.text, TaskSetting.task2EndTxt.text, TaskSetting.task3EndTxt.text, TaskSetting.task4EndTxt.text,
};
// sequence
//int[] sequence = new int[] { 1, 2, 3, 4, 5};
//SetYaml.IniTaskInfo(subjectName, randomSeq.GetRandomNum(sequence),startPoint,endPoint);
SetYaml.IniTaskInfo(subjectName, startPoint, endPoint);
/*
* destroy all gameobject
*/
//GameObject.Destroy(startBtn, 0.3f);
//GameObject.Destroy(loadBtn, 0.3f);
//GameObject.Destroy(TaskSetting.task1Txt, 0.0f);
//GameObject.Destroy(TaskSetting.task2Txt, 0.0f);
//GameObject.Destroy(TaskSetting.task3Txt, 0.0f);
//GameObject.Destroy(TaskSetting.task4Txt, 0.0f);
//GameObject.Destroy(TaskSetting.task1StartTxt, 0.0f);
//GameObject.Destroy(TaskSetting.task2StartTxt, 0.0f);
//GameObject.Destroy(TaskSetting.task3StartTxt, 0.0f);
//GameObject.Destroy(TaskSetting.task4StartTxt, 0.0f);
//GameObject.Destroy(TaskSetting.task1EndTxt, 0.0f);
//GameObject.Destroy(TaskSetting.task2EndTxt, 0.0f);
//GameObject.Destroy(TaskSetting.task3EndTxt, 0.0f);
//GameObject.Destroy(TaskSetting.task4EndTxt, 0.0f);
//GameObject.Destroy(TaskSetting.nameInput, 0.0f);
//GameObject.Destroy(MoveObject.objPoint, 0.0f);
//SceneManager.LoadScene("M2SysEthHW-DLL",LoadSceneMode.Additive);
SceneManager.LoadScene("M2SysEthHW-DLL");
}
