private IEnumerator doSomeThing(MotionRejectoryType type) { BleController bc = BleController.Instance; foreach (Dictionary <string, int> dict in bc.Trajectory(type)) { bc.Transfer(BleModelType.BLE_MOVE, dict); int time = dict [BLE.KEY_MOVE_TIME]; float ft = (float)time / 1000; yield return(new WaitForSeconds(ft)); } }
public IEnumerable <Dictionary <string, int> > Trajectory(MotionRejectoryType type) { int[,] table = null; switch (type) { case MotionRejectoryType.Rejectory1: table = BLE.MOTION_REJECTORY1_TABLE; break; case MotionRejectoryType.Rejectory2: table = BLE.MOTION_REJECTORY2_TABLE; break; case MotionRejectoryType.Rejectory3: table = BLE.MOTION_REJECTORY3_TABLE; break; case MotionRejectoryType.Rejectory4: table = BLE.MOTION_REJECTORY4_TABLE; break; default: break; } if (null != table) { for (int i = 0; i < table.GetLength(0); i++) { Dictionary <string, int> dict = new Dictionary <string, int> (); dict [BLE.KEY_MOVE_SPEED_L] = table [i, 0]; dict [BLE.KEY_MOVE_SPEED_R] = table [i, 1]; dict [BLE.KEY_MOVE_TIME] = table [i, 2]; yield return(dict); } } }