private void GetBallBouncing(Action action = null)
{
_strategies.Add(
BallControlStrategyFactory.Bouncing(5, PIDTiltController.Instance, action: action));
_strategies.Add(
BallControlStrategyFactory.BouncingStrong(1, PIDTiltController.Instance));
for (int i = 0; i < 4; i++)
{
_strategies.Add(BallControlStrategyFactory.Bouncing(5, PIDTiltController.Instance));
_strategies.Add(BallControlStrategyFactory.BouncingStrong(1, PIDTiltController.Instance));
}
}
private void Start()
{
_ballData = new BallData(
_ballDataDebugView,
_predictedPositionVisualizer,
_gradientDescentX,
_gradientDescentY,
_gradientDescentZ);
_strategies.Add(BallControlStrategyFactory.GoTo(0.01f));
_strategies.Add(BallControlStrategyFactory.GoTo(0.05f));
_strategies.Add(BallControlStrategyFactory.GoToWhenBallOnPlate(0.01f));
_strategies.Add(BallControlStrategyFactory.GoToWhenBallOnPlate(0.05f));
GetBallBouncing(() =>
{
_onCheckPointPassedSubject.OnNext(1);
_machineStateView.Set("Get Ball Bouncing", MachineStateView.TiltControlType.PIDTiltController);
});
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
action: () => _machineStateView.Set("Two Step Bouncing",
MachineStateView.TiltControlType.AnalyticalTiltControl)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(40, AnalyticalTiltController.Instance,
action: () => _onCheckPointPassedSubject.OnNext(2)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
action: () => _onCheckPointPassedSubject.OnNext(3)));
CircleBouncing(10, () => _machineStateView.Set("Circle Bouncing",
MachineStateView.TiltControlType.AnalyticalTiltControl));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
new Vector2(40f, 0f), action: () => _machineStateView.Set("Two Step Bouncing",
MachineStateView.TiltControlType.AnalyticalTiltControl)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
new Vector2(0f, 0f)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
new Vector2(-40f, 0f)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
new Vector2(0f, 0f)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
new Vector2(40f, 0f)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
new Vector2(0f, 0f)));
_strategies.Add(BallControlStrategyFactory.TwoStepBouncing(20, AnalyticalTiltController.Instance,
new Vector2(-40f, 0f)));
for (int i = 0; i < 5; i++)
{
_strategies.Add(
BallControlStrategyFactory.Bouncing(5, AnalyticalTiltController.Instance));
_strategies.Add(
BallControlStrategyFactory.BouncingStrong(1, AnalyticalTiltController.Instance));
_strategies.Add(BallControlStrategyFactory.Balancing(0.05f, 8, Vector2.zero,
AnalyticalTiltController.Instance));
}
_strategies.Add(BallControlStrategyFactory.GoTo(0.01f));
_strategies.Add(BallControlStrategyFactory.GoTo(0.08f));
_strategies.Add(BallControlStrategyFactory.GoTo(0.05f));
GetBallBouncing();
_strategies.Add(BallControlStrategyFactory.Bouncing(20, AnalyticalTiltController.Instance));
for (int i = 0; i < 5; i++)
{
_strategies.Add(
BallControlStrategyFactory.Bouncing(5, AnalyticalTiltController.Instance));
_strategies.Add(
BallControlStrategyFactory.BouncingStrong(1, AnalyticalTiltController.Instance));
_strategies.Add(
BallControlStrategyFactory.Balancing(0.05f, 8, Vector2.zero, AnalyticalTiltController.Instance));
}
_strategies.Add(BallControlStrategyFactory.GoTo(0.01f));
}