private void OnTriggerEnter(Collider other)
{
if (other.gameObject.name.Contains("index") && other.gameObject.layer.Equals(12))
{
if (Flag == true)
{
return;
}
fingerFlag = other.gameObject.name;
leftIndexBending = leftPoseManager.CurHandRotationNormalized.Index.Bend.Value;
float[] stiffnessArray = new float[5];
stiffnessArray[1] = Stiffness;
float[] PositionSetPointArray = new float[5];
PositionSetPointArray[1] = leftIndexBending;
bool[] InwardControlArray = new bool[5];
InwardControlArray[1] = InwardControl;
Debug.Log("enter " + other.name);
//Sending force feedback command to the client
ClientController.ImpedanceControlFingers(AssignedID, targets, stiffnessArray, PositionSetPointArray, InwardControlArray);
Debug.Log("hit");
//Stop force feedback after a given time, can be modified
StartCoroutine(WaitAndReleaseForceFeedBack(ForceFeedbackLastTime));
//Force feedback can only be triggered once in 0.5 second
Flag = true;
StartCoroutine(WaitAndSetFlagFalse(0.5f));
}
}
void KeyboardControll()
{
if (Input.GetKeyDown(KeyCode.U))
{
Debug.Log("update impedance");
float[] stiffnessArray = new float[5];
stiffnessArray[1] = Stiffness;
float[] PositionSetPointArray = new float[5];
PositionSetPointArray[1] = PositionSetPoint;
bool[] InwardControlArray = new bool[5];
InwardControlArray[1] = InwardControl;
ClientController.ImpedanceControlFingers(AssignedID, targets, stiffnessArray, PositionSetPointArray, InwardControlArray);
isImpeding = true;
}
if (Input.GetKeyDown(KeyCode.I))
{
if (constantForceApply)
{
return;
}
Debug.Log("start impending");
float[] stiffnessArray = new float[5];
stiffnessArray[1] = Stiffness;
float[] PositionSetPointArray = new float[5];
PositionSetPointArray[1] = PositionSetPoint;
bool[] InwardControlArray = new bool[5];
InwardControlArray[1] = InwardControl;
ClientController.ImpedanceControlFingers(AssignedID, targets, stiffnessArray, PositionSetPointArray, InwardControlArray);
isImpeding = true;
}
//constant force
if (Input.GetKeyDown(KeyCode.C))
{
Debug.Log("costant force impending");
constantForceApply = true;
}
/* No locking in current hardware
*
* if (Input.GetKeyDown(KeyCode.L))
* {
* if (isLocked)//tofix
* {
* Debug.Log("stop locking");
* ClientController.StopContinuousLockFingers(AssignedID, targets);//tofix
* isLocked = false;//tofix
* }
* else
* {
*
* Debug.Log("start locking");
* ClientController.StopContinuousLockFingers(AssignedID, targets);//tofix;
* isLocked = true;//tofix
* }
* }
*/
/* I can't understand what this testing is but it turns out makes no effect
*
* if (Input.GetKeyDown(KeyCode.T))
* {
* if (isLatencyTesting)
* {
*
* Debug.Log("stop testing");
* ClientController.StopImpedanceControlFingers(AssignedID, targets);//tofix
* isLatencyTesting = false;//tofix
* }
* else
* {
*
* Debug.Log("start testing");
* float[] stiffnessArray = new float[5];
* stiffnessArray[1] = Stiffness;
* float[] PositionSetPointArray = new float[5];
* PositionSetPointArray[1] = PositionSetPoint;
* bool[] InwardControlArray = new bool[5];
* InwardControlArray[1] = InwardControl;
* ClientController.ImpedanceControlLatencyTest(AssignedID, targets, stiffnessArray, PositionSetPointArray, InwardControlArray);
* isLatencyTesting = true;
* }
* }
*/
/*no viberating in current hardware
*
* if (Input.GetKeyDown(KeyCode.V))
* {
* if (isVibrating)//tofix
* {
* Debug.Log("stop V-ing");
* ClientController.StopContinuousVibrateFingers(AssignedID, targets);//tofix
* isVibrating = false;//tofix
* }
* else
* {
*
* Debug.Log("start V-ing");
* ClientController.StartContinuousVibrateFingers(AssignedID, targets);//tofix;
* isVibrating = true;//tofix
* }
* }
*/
}
