public Wheel(WheelType type)
{
_type = type;
switch (_type)
{
case WheelType.Wheel4:
_nPositions = 4;
_filterSize = FilterSize.ThreeInch;
break;
case WheelType.Wheel8:
_nPositions = 8;
_filterSize = FilterSize.TwoInch;
break;
case WheelType.WheelUnknown:
_nPositions = 1;
_filterSize = FilterSize.Unknown;
break;
}
_positions = new FWPosition[_nPositions];
_targetPosition = -1;
_name = _type.ToString();
for (int i = 0; i < _nPositions; i++)
{
_positions[i].filterName = _positions[i].tag = string.Empty;
}
_position = -1;
}
private void ProcessMessage()
{
// Debug.Log(linearVelocity);
// Debug.Log(angularVelocity);
motor = hinge.motor;
if (type.ToString() == "Left")
{
motor.targetVelocity = (float)180.0 / Mathf.PI * (2 * linearVelocity[2] + WheelSeparation * angularVelocity[1]) / (2 * WheelRadius);
}
else if (type.ToString() == "Right")
{
motor.targetVelocity = (float)180.0 / Mathf.PI * (2 * linearVelocity[2] - WheelSeparation * angularVelocity[1]) / (2 * WheelRadius);
}
else
{
motor.targetVelocity = 0;
}
// motor.force = 10000000000000;
motor.freeSpin = false;
hinge.motor = motor;
hinge.useMotor = true;
isMessageReceived = false;
}
