public static UniTask <Cube.TargetMoveRespondType> TargetMove(Cube cube,
int targetX, int targetY, int targetAngle, int configID = 0, int timeOut = 0,
Cube.TargetMoveType targetMoveType = Cube.TargetMoveType.RotatingMove, int maxSpd = 80,
Cube.TargetSpeedType targetSpeedType = Cube.TargetSpeedType.UniformSpeed,
Cube.TargetRotationType targetRotationType = Cube.TargetRotationType.AbsoluteLeastAngle,
Cube.ORDER_TYPE order = Cube.ORDER_TYPE.Strong)
{
var source = new UniTaskCompletionSource <Cube.TargetMoveRespondType>();
var callbackKey = Guid.NewGuid().ToString();
cube.targetMoveCallback.RemoveListener(callbackKey);
cube.targetMoveCallback.AddListener(callbackKey, (_cube, _configId, _respondType) =>
{
if (_configId == configID)
{
DelayedRemoveTargetMoveCallback(cube, callbackKey);
source.TrySetResult(_respondType);
}
});
cube.TargetMove(targetX, targetY, targetAngle, configID, timeOut,
targetMoveType, maxSpd, targetSpeedType, targetRotationType, order);
return(source.Task);
}
// COMMAND API
public override void TargetMove(
int targetX,
int targetY,
int targetAngle,
int configID,
int timeOut,
Cube.TargetMoveType targetMoveType,
int maxSpd,
Cube.TargetSpeedType targetSpeedType,
Cube.TargetRotationType targetRotationType
)
{
#if !RELEASE
if (65535 < targetX || targetX < -1)
{
Debug.LogErrorFormat("[Cube.TargetMove]X座標範囲を超えました. targetX={0}", targetX);
}
if (65535 < targetY || targetY < -1)
{
Debug.LogErrorFormat("[Cube.TargetMove]Y座標範囲を超えました. targetY={0}", targetY);
}
if (8191 < targetAngle)
{
Debug.LogErrorFormat("[Cube.TargetMove]回転角度範囲を超えました. targetAngle={0}", targetAngle);
}
if (255 < configID)
{
Debug.LogErrorFormat("[Cube.TargetMove]制御識別値範囲を超えました. configID={0}", configID);
}
if (255 < timeOut)
{
Debug.LogErrorFormat("[Cube.TargetMove]制御時間範囲を超えました. timeOut={0}", timeOut);
}
if (this.maxMotor < maxSpd)
{
Debug.LogErrorFormat("[Cube.TargetMove]速度範囲を超えました. maxSpd={0}", maxSpd);
}
#endif
MotorTargetCmd cmd = new MotorTargetCmd();
cmd.x = (ushort)(targetX == -1?65535:Mathf.Clamp(targetX, 0, 65535));
cmd.y = (ushort)(targetY == -1?65535:Mathf.Clamp(targetY, 0, 65535));
cmd.deg = (ushort)Mathf.Clamp(targetAngle, 0, 8191);
cmd.configID = (byte)Mathf.Clamp(configID, 0, 255);
cmd.timeOut = (byte)Mathf.Clamp(timeOut, 0, 255);
cmd.targetMoveType = targetMoveType;
cmd.maxSpd = (byte)Mathf.Clamp(maxSpd, 0, this.maxMotor);
cmd.targetSpeedType = targetSpeedType; cmd.targetRotationType = targetRotationType;
cmd.tRecv = Time.time;
MotorSetCmd(MotorCmdType.MotorTargetCmd, cmd);
}
// --------- 2.1.0 --------
public void TargetMove(
int targetX,
int targetY,
int targetAngle,
int configID,
int timeOut,
Cube.TargetMoveType targetMoveType,
int maxSpd,
Cube.TargetSpeedType targetSpeedType,
Cube.TargetRotationType targetRotationType
)
{
DelayCommand(() => impl.TargetMove(targetX, targetY, targetAngle, configID, timeOut, targetMoveType, maxSpd, targetSpeedType, targetRotationType));
}
public void MultiTargetMove(
int[] targetXList,
int[] targetYList,
int[] targetAngleList,
Cube.TargetRotationType[] multiRotationTypeList,
int configID,
int timeOut,
Cube.TargetMoveType targetMoveType,
int maxSpd,
Cube.TargetSpeedType targetSpeedType,
Cube.MultiWriteType multiWriteType
)
{
DelayCommand(() => impl.MultiTargetMove(targetXList, targetYList, targetAngleList, multiRotationTypeList, configID, timeOut, targetMoveType, maxSpd, targetSpeedType, multiWriteType));
}
// COMMAND API
public override void MultiTargetMove(
int[] targetXList,
int[] targetYList,
int[] targetAngleList,
Cube.TargetRotationType[] multiRotationTypeList,
int configID,
int timeOut,
Cube.TargetMoveType targetMoveType,
int maxSpd,
Cube.TargetSpeedType targetSpeedType,
Cube.MultiWriteType multiWriteType
)
{
#if !RELEASE
if (targetXList.Length == 0 || targetYList.Length == 0 || targetAngleList.Length == 0 ||
!(targetXList.Length == targetYList.Length && targetYList.Length == targetAngleList.Length))
{
Debug.LogErrorFormat("[Cube.TargetMove]座標・角度リストのサイズが不一致または０. targetXList.Length={0}, targetYList.Length={1}, targetAngleList.Length={2}", targetXList.Length, targetYList.Length, targetAngleList.Length);
}
if (255 < configID)
{
Debug.LogErrorFormat("[Cube.TargetMove]制御識別値範囲を超えました. configID={0}", configID);
}
if (255 < timeOut)
{
Debug.LogErrorFormat("[Cube.TargetMove]制御時間範囲を超えました. timeOut={0}", timeOut);
}
if (this.maxMotor < maxSpd)
{
Debug.LogErrorFormat("[Cube.TargetMove]速度範囲を超えました. maxSpd={0}", maxSpd);
}
#endif
MotorMultiTargetCmd cmd = new MotorMultiTargetCmd();
cmd.xs = Array.ConvertAll(targetXList, new Converter <int, ushort>(x => (ushort)(x == -1?65535:Mathf.Clamp(x, 0, 65534))));
if (cmd.xs.Length == 0)
{
return;
}
cmd.xs = cmd.xs.Take(29).ToArray();
cmd.ys = Array.ConvertAll(targetYList, new Converter <int, ushort>(x => (ushort)(x == -1?65535:Mathf.Clamp(x, 0, 65534))));
if (cmd.ys.Length == 0)
{
return;
}
cmd.ys = cmd.ys.Take(29).ToArray();
cmd.degs = Array.ConvertAll(targetAngleList, new Converter <int, ushort>(x => (ushort)x));
if (cmd.degs.Length == 0)
{
return;
}
cmd.degs = cmd.degs.Take(29).ToArray();
cmd.rotTypes = multiRotationTypeList != null? multiRotationTypeList : new Cube.TargetRotationType[cmd.xs.Length];
cmd.configID = (byte)Mathf.Clamp(configID, 0, 255);
cmd.timeOut = (byte)Mathf.Clamp(timeOut, 0, 255);
cmd.maxSpd = (byte)Mathf.Clamp(maxSpd, 0, this.maxMotor);
cmd.targetMoveType = targetMoveType;
cmd.targetSpeedType = targetSpeedType;
cmd.multiWriteType = multiWriteType;
cmd.tRecv = Time.time;
MotorSetCmd(MotorCmdType.MotorMultiTargetCmd, cmd);
}
protected (float, float) TargetMove_MoveControl(
float elipsed,
ushort x, ushort y,
byte maxSpd,
Cube.TargetSpeedType targetSpeedType,
float acc,
Cube.TargetMoveType targetMoveType
)
{
float spd = maxSpd;
float translate = 0, rotate = 0;
Vector2 targetPos = new Vector2(x, y);
Vector2 pos = new Vector2(this.x, this.y);
var dpos = targetPos - pos;
var dir2tar = Vector2.SignedAngle(Vector2.right, dpos);
var deg2tar = Deg(dir2tar - this.deg); // use when moving forward
var deg2tar_back = (deg2tar + 360) % 360 - 180; // use when moving backward
bool tarOnFront = Mathf.Abs(deg2tar) <= 90;
// 速度変化タイプ
switch (targetSpeedType)
{
case (Cube.TargetSpeedType.UniformSpeed): // 速度一定
{ break; }
case (Cube.TargetSpeedType.Acceleration): // 目標地点まで徐々に加速
{
spd = Mathf.Clamp(this.deadzone + acc * elipsed, this.deadzone, maxSpd);
break;
}
case (Cube.TargetSpeedType.Deceleration): // 目標地点まで徐々に減速
{
spd = Mathf.Clamp(maxSpd - acc * elipsed, this.deadzone, maxSpd);
break;
}
case (Cube.TargetSpeedType.VariableSpeed): // 中間地点まで徐々に加速し、そこから目標地点まで減速
{
spd = Mathf.Clamp(maxSpd - 2 * acc * Mathf.Abs(elipsed - (maxSpd - this.deadzone) / acc / 2), this.deadzone, maxSpd);
break;
}
}
// 移動タイプ
switch (targetMoveType)
{
case (Cube.TargetMoveType.RotatingMove): // 回転しながら移動
{
rotate = tarOnFront? deg2tar : deg2tar_back;
translate = tarOnFront? spd : -spd;
break;
}
case (Cube.TargetMoveType.RoundForwardMove): // 回転しながら移動（後退なし）
{
rotate = deg2tar;
translate = spd;
break;
}
case (Cube.TargetMoveType.RoundBeforeMove): // 回転してから移動
{
rotate = deg2tar;
if (Mathf.Abs(deg2tar) < motorTargetDegTol)
{
translate = spd;
}
break;
}
}
rotate *= 0.6f;
rotate = Mathf.Clamp(rotate, -this.maxMotor, this.maxMotor);
return(translate, rotate);
}
