private void Update()
{
switch (_machineState)
{
case MachineState.Idle:
if (_instructionStack.Count > 0)
{
_lastTargetMachineState = _currentInstruction.TargetMachineState;
_currentInstruction = _instructionStack.Pop();
_animationTime = 0f;
_machineState = MachineState.DoingControlledMoves;
}
break;
case MachineState.DoingControlledMoves:
_animationTime += Time.deltaTime;
var normalizedAnimationValue = _animationTime / _currentInstruction.MoveTime;
var animatedMachineState = _lastTargetMachineState.LerpTowards(
_currentInstruction.TargetMachineState,
(1 + Mathf.Cos((1 - normalizedAnimationValue) * Mathf.PI)) / 2f);
AddToOriginState(animatedMachineState);
if (_animationTime > _currentInstruction.MoveTime)
{
_machineState = MachineState.Idle;
}
break;
}
}
/// <summary>
/// Serialization in order to transfer the data via serial interface
/// </summary>
public static string Serialize(this LLInstruction llInstruction)
{
var builder = new StringBuilder();
builder.Append((llInstruction.TargetMachineState.Motor1Rotation).ToString("0.00000"));
builder.Append(":");
builder.Append((llInstruction.TargetMachineState.Motor2Rotation).ToString("0.00000"));
builder.Append(":");
builder.Append((llInstruction.TargetMachineState.Motor3Rotation).ToString("0.00000"));
builder.Append(":");
builder.Append((llInstruction.TargetMachineState.Motor4Rotation).ToString("0.00000"));
builder.Append(":");
builder.Append(llInstruction.MoveTime.ToString("0.00000"));
return(builder.ToString());
}
