// Runs every fixed interval of time
void FixedUpdate()
{
/*-------------------------------------------------------------------------------------------------------
* --------------------------------------Player Controller Script-------------------------------------------
* --------------------------------------------------------------------------------------------------------*/
if (player_controller)
{
instantePower = Input.GetAxis("Vertical") * motorPower * Time.deltaTime;
wheelTurn = Input.GetAxis("Horizontal") * maxTurn;
brake = Input.GetKey("space");
if (!(Input.GetAxis("Vertical") == 0) || !(Input.GetAxis("Horizontal") == 0))
{
time = 0;
}
//Turn Collider
getCollider(0).steerAngle = wheelTurn;
getCollider(1).steerAngle = wheelTurn;
//Turn Wheels
wheels[0].localEulerAngles = new Vector3(wheels[0].localEulerAngles.x, getCollider(0).steerAngle - wheels[0].localEulerAngles.z + 90, wheels[0].localEulerAngles.z);
wheels[1].localEulerAngles = new Vector3(wheels[1].localEulerAngles.x, getCollider(1).steerAngle - wheels[0].localEulerAngles.z + 90, wheels[1].localEulerAngles.z);
//Spin Wheels
wheels[0].Rotate(0, -getCollider(0).rpm / 60 * 360 * Time.deltaTime, 0);
wheels[1].Rotate(0, -getCollider(1).rpm / 60 * 360 * Time.deltaTime, 0);
wheels[2].Rotate(0, -getCollider(2).rpm / 60 * 360 * Time.deltaTime, 0);
wheels[3].Rotate(0, -getCollider(3).rpm / 60 * 360 * Time.deltaTime, 0);
//brakes
if (brake)
{
time += Time.deltaTime;
if (time > 3f)
{
stopBot();
}
else
{
Vector3 prev = myRigidbody.velocity;
prev.z = prev.z / 2;
prev.x = prev.x / 2;
myRigidbody.velocity = prev;
}
}
else
{
getCollider(0).brakeTorque = 0.0f;
getCollider(1).brakeTorque = 0.0f;
getCollider(2).brakeTorque = 0.0f;
getCollider(3).brakeTorque = 0.0f;
getCollider(2).motorTorque = instantePower;
getCollider(3).motorTorque = instantePower;
}
}
else
{
/*-------------------------------------------------------------------------------------------------------
* ---------------------------------------TCP Controller Script---------------------------------------------
* --------------------------------------------------------------------------------------------------------*/
string command = myTCP.getTransform(); //Retrieves TCP data
myTCP.resetTransform(); //Resets TCP data so that it doesn't retrieve the same data twice
if (command != "")
{
if (command.IndexOf("WHEELS") > 0) //Checks for WHEEL values
{
print("Command is " + command);
//Parses WHEEL command and stores it in wheel_force
command = command.Substring(command.IndexOf(",") + 1, command.IndexOf(">") - command.IndexOf(",") - 1);
String[] wheel_commands = command.Split(',');
wheel_force = Array.ConvertAll <String, float>(wheel_commands, float.Parse);
time = 0;
}
}
//Minimodbot should be able to go forward backward OR turn left right
//If wheel front wheel force are both > 0 ----> forward
//If Wheel front wheel force are both < - ----> backward
//if Wheel front wheel has one thats < 0 and the other > 0 ----> you are turnt
//Probably repetition in the code, reminder to clean it in the future
if (wheel_force[0] > 0 && wheel_force[1] > 0) //forward backward
{
if (instantePower < 0)
{
stopBot();
}
instantePower = Math.Abs(wheel_force[0] / 100) * motorPower * Time.deltaTime;
wheelTurn = 0;
}
else if (wheel_force[0] < 0 && wheel_force[1] < 0)
{
if (instantePower > 0)
{
stopBot();
}
instantePower = -Math.Abs(wheel_force[0] / 100) * motorPower * Time.deltaTime;
wheelTurn = 0;
}
if (wheel_force[0] > 0 && wheel_force[1] < 0) //turning left right
{
if (wheelTurn == 0)
{
stopBot();
}
wheelTurn = Mathf.Min(1, wheel_force[0] / 50) * maxTurn;
instantePower = 0;
}
else if (wheel_force[0] < 0 && wheel_force[1] > 0)
{
if (wheelTurn == 0)
{
stopBot();
}
wheelTurn = -Mathf.Min(1, wheel_force[1] / 50) * maxTurn;
instantePower = 0;
}
//Turn Collider
getCollider(0).steerAngle = wheelTurn;
getCollider(1).steerAngle = wheelTurn;
//Turn Wheels
//Not Needed, its just an animation for wheel turning
//wheels[0].localEulerAngles = new Vector3(wheels[0].localEulerAngles.x, getCollider(0).steerAngle - wheels[0].localEulerAngles.z + 90, wheels[0].localEulerAngles.z);
//wheels[1].localEulerAngles = new Vector3(wheels[1].localEulerAngles.x, getCollider(1).steerAngle - wheels[0].localEulerAngles.z + 90, wheels[1].localEulerAngles.z);
//Spin Wheels
wheels[0].Rotate(0, -getCollider(0).rpm / 60 * 360 * Time.deltaTime, 0);
wheels[1].Rotate(0, -getCollider(1).rpm / 60 * 360 * Time.deltaTime, 0);
wheels[2].Rotate(0, -getCollider(2).rpm / 60 * 360 * Time.deltaTime, 0);
wheels[3].Rotate(0, -getCollider(3).rpm / 60 * 360 * Time.deltaTime, 0);
//brakes
if (wheel_force[0] == 0 && wheel_force[1] == 0)
{
time += Time.deltaTime;
if (time > 3f)
{
stopBot(); //hard stop
}
else
{
//Slows down velocity by half each time, for more "natural" stop
Vector3 prev = myRigidbody.velocity;
prev.z = prev.z / 2;
prev.x = prev.x / 2;
myRigidbody.velocity = prev;
}
}
else
{
getCollider(0).brakeTorque = 0.0f;
getCollider(1).brakeTorque = 0.0f;
getCollider(2).brakeTorque = 0.0f;
getCollider(3).brakeTorque = 0.0f;
//physics for actual forward and backward movement
getCollider(2).motorTorque = instantePower;
getCollider(3).motorTorque = instantePower;
if (wheelTurn != 0)
{
//Rotates rigidbody (minimodbot) in place
Transform pivot = myRigidbody.transform.Find("PivotPoint");
if (wheelTurn > 0)
{
myRigidbody.transform.RotateAround(pivot.position, Vector3.up, 1);
}
else
{
myRigidbody.transform.RotateAround(pivot.position, Vector3.up, -1);
}
}
}
}
}
