/// <summary>
/// Function called before of the first update
/// </summary>
void Start()
{
droneMovementController dmc = gameObject.GetComponent <droneMovementController>();
// associate the rotors
helixO1 = dmc.helixO1;
helixO2 = dmc.helixO2;
helixV1 = dmc.helixV1;
helixV2 = dmc.helixV2;
// finds the rotors position
Vector3 v1 = helixV1.transform.position;
Vector3 v2 = helixV2.transform.position;
Vector3 o1 = helixO1.transform.position;
Vector3 o2 = helixO2.transform.position;
Vector3 mid_v1o1 = (v1 + o1) / 2f;
Vector3 mid_v2o2 = (o2 + v2) / 2f;
distanceBetweenHelixes = Vector3.Distance(mid_v1o1, mid_v2o2);
// instantiates the noiseAdders, to add the noise to the measurement
nRoll = new noiseAdder();
nRollSpeed = new noiseAdder();
nRollAcc = new noiseAdder();
nPitch = new noiseAdder();
nPitchSpeed = new noiseAdder();
nPitchAcc = new noiseAdder();
}
/// <summary>
/// Function called in the Start function that initializes the variables used for the experiment
/// </summary>
/// <param name="lifeTime">Time the drone will live before of dying of natural death </param>
/// <param name="hidebody">Indicate if the mesh of the drone has to be hidden or not </param>
/// <param name="routePos">Route position in the circuit.
/// It is used to estabilish if the drone has to be killed because too far from the circuit </param>
protected void startOperations(float lifeTime, bool hidebody, Vector3 routePos)
{
setID();
hideBody(hidebody);
setLifeTime(lifeTime);
dmc = gameObject.GetComponent <droneMovementController>();
routePosition = routePos;
lastroutePosition = routePos;
}
/// <summary>
/// Sets the keys to the drone
/// </summary>
/// <param name="myVals">Array of float containing the parameters</param>
protected void writeKeysOnDMC(float[] myVals)
{
droneMovementController dmc = GetComponent <droneMovementController>();
PID yPID = new PID(myVals[0], myVals[1], myVals[2], myVals[3]);
PID zPID = new PID(myVals[4], myVals[5], myVals[6], myVals[7]);
PID xPID = new PID(myVals[4], myVals[5], myVals[6], myVals[7]);
PID yawPID = new PID(myVals[8], myVals[9], myVals[10], myVals[11]);
PID rollPID = new PID(myVals[12], myVals[13], myVals[14], myVals[15]);
PID pitchPID = new PID(myVals[12], myVals[13], myVals[14], myVals[15]);
dmc.setKs(yPID, zPID, xPID, pitchPID, rollPID, yawPID);
dmc.setConsts(myVals[16], myVals[17], myVals[18], myVals[19], myVals[20], myVals[22], myVals[23]);
}
/// <summary>
/// Function Called when the object is activated for the first time
/// </summary>
void Awake()
{
// initializes the noiseAdders
nYaw = new noiseAdder();
nSpeed = new noiseAdder();
// look for the rotors in the droneMovementController
droneMovementController dmc = gameObject.GetComponent <droneMovementController>();
helixO1 = dmc.helixO1;
helixO2 = dmc.helixO2;
helixV1 = dmc.helixV1;
helixV2 = dmc.helixV2;
lastYaw = yaw = getYawINT();
}
/// <summary>
/// Sets the keys used for the experiment and the waypoint
/// </summary>
/// <param name="myVals">Array of float containing the parameters</param>
/// <param name="waypointCircuit">WaypointCircuit that will be used for the experiment</param>
protected void writeKeysOnDMC(float[] myVals, GameObject waypointCircuit)
{
// if the variables are empty, is assigns them
dmc = (dmc != null ? dmc : GetComponent <droneMovementController>());
wpt = (wpt != null ? wpt : GetComponent <WaypointProgressTracker>());
// initializing new PIDs
yPID = new PID(myVals[0], myVals[1], myVals[2], myVals[3]);
zPID = new PID(myVals[4], myVals[5], myVals[6], myVals[7]);
xPID = new PID(myVals[4], myVals[5], myVals[6], myVals[7]);
yawPID = new PID(myVals[8], myVals[9], myVals[10], myVals[11]);
rollPID = new PID(myVals[12], myVals[13], myVals[14], myVals[15]);
pitchPID = new PID(myVals[12], myVals[13], myVals[14], myVals[15]);
// calls the functions in the droneMovementController to set the keys and the constants
dmc.setKs(yPID, zPID, xPID, pitchPID, rollPID, yawPID);
dmc.setConsts(myVals[16], myVals[17], myVals[18], myVals[19], myVals[20], myVals[22], myVals[23]);
// spawns the WaypointCircuit and assign it to the drone
Vector3 wpcPosition = this.transform.position + new Vector3(2, 6, 2);
spawnedWaypoint = (GameObject)Instantiate(waypointCircuit, wpcPosition, Quaternion.identity);
wpt.setWaypoint(spawnedWaypoint.GetComponent <WaypointCircuit>());
}
