Added some things

FRC 2019 Virtual Camera/Assets/Scripts/cameraControl.cs

@@ -0,0 +1,31 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class cameraControl : MonoBehaviour
+{
+    public bool nyah = false;
+    public bool negNyah = false;
+    // Start is called before the first frame update
+    void Start()
+    {
+        
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        if (Input.GetKey("left"))
+        {
+            transform.Rotate(Vector3.up, -200 * Time.deltaTime);
+            nyah = true;
+            negNyah = false;
+        }
+        if (Input.GetKey("right"))
+        {
+            transform.Rotate(Vector3.up, 200 * Time.deltaTime);
+            negNyah = true;
+            nyah = false;
+        }
+    }
+}

FRC 2019 Virtual Camera/Assets/Scripts/cameraControl.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 65b6b77e8469e104abfc7201dd384683
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

FRC 2019 Virtual Camera/Assets/Scripts/robotCommunication.cs

@@ -1,6 +1,7 @@
 using System;
 using System.Collections;
 using System.Collections.Generic;
+using System.Diagnostics;
 using System.Globalization;
 using System.Net;
 using System.Net.Sockets;
@@ -9,33 +10,34 @@ using UnityEngine;
 
 public class robotCommunication : MonoBehaviour
 {
-    public bool isData = false;
-    public static int portNumber = 4388;
-    public int bytesAvailable;
-    List<string> keys = new List<string>();
     public SortedList<string, float> robotValues =
             new SortedList<string, float>
             {
-                { "Left Pos Inches", 0.0f },
-                { "Yaw Angle Deg", 0.0f },
-                { "Right Pos Inches", 0.0f },
-                { "Elevator Pos Ticks", 0.0f },
+                { "Pitch", 0.0f },
+                { "Roll", 0.0f },
+                { "Yaw", 0.0f },
+                { "Distance", 0.0f },
             };
-
+    public static int portNumber = 4388;
+    public int bytesAvailable;
+    List<string> keys = new List<string>();
     public float encoder, navX;
-
     public string input, request = "";
-
     IPEndPoint serverAddress = new IPEndPoint(IPAddress.Parse("127.0.0.1"), portNumber);
-    Socket clientSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
-
+    Socket serverSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+    Socket clientSocket;
     short currentIndex;
     float currentValue;
+    public float latency;
 
     // Start is called before the first frame update
     void Start()
     {
-        clientSocket.Connect(serverAddress);
+        startRobopipe();
+        serverSocket.Bind(serverAddress);
+        serverSocket.Listen(10);
+
+        clientSocket = serverSocket.Accept();
         foreach (var valuePair in robotValues)
         {
             request += valuePair.Key;
@@ -50,6 +52,7 @@ public class robotCommunication : MonoBehaviour
     // Update is called once per frame
     void Update()
     {
+        latency = Time.deltaTime * 1000;
         bytesAvailable = clientSocket.Available;
         if (bytesAvailable > 10)
         {
@@ -63,8 +66,20 @@ public class robotCommunication : MonoBehaviour
                 robotValues[keys[i]] = float.Parse(values[i], CultureInfo.InvariantCulture.NumberFormat);
                 i++;
             }
-            clientSocket.Send(new byte[] { 100 });
-            isData = true;
+            clientSocket.Send(Encoding.UTF8.GetBytes("CONT"));
         }
     }
+
+    private void OnApplicationQuit()
+    {
+        clientSocket.Send(Encoding.UTF8.GetBytes("EXIT"));
+    }
+
+    private void startRobopipe()
+    {
+        Process foo = new Process();
+        foo.StartInfo.FileName = "Robopipe.jar";
+        foo.StartInfo.Arguments = "" + portNumber;
+        foo.Start();
+    }
 }

FRC 2019 Virtual Camera/Assets/Scripts/robotControl.cs

@@ -28,7 +28,7 @@ public class robotControl : MonoBehaviour
         roboCom.robotValues.TryGetValue("Yaw Angle Deg", out yRot);
         roboCom.robotValues.TryGetValue("Left Pos Inches", out leftEncoder);
         roboCom.robotValues.TryGetValue("Right Pos Inches", out rightEncoder);
-        if (!start && roboCom.isData)
+        /*if (!start && roboCom.isData)
         {
             avgEncoder = (leftEncoder + rightEncoder) / 2;
             lastEncoder = avgEncoder;
@@ -46,6 +46,6 @@ public class robotControl : MonoBehaviour
             transform.rotation = Quaternion.Euler(rot);
             transform.position = pos;
             lastEncoder = avgEncoder;
-        }
+        }*/
     }
 }

FRC 2019 Virtual Camera/Assets/Scripts/robotNavXControl.cs

@@ -0,0 +1,42 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class robotNavXControl : MonoBehaviour
+{
+    public float distance, lastDistance;
+    public Vector3 vel, acc, initRot, rot, otherRot;
+    public int button;
+    robotCommunication roboCom;
+    bool start = false;
+
+    // Start is called before the first frame update
+    void Start()
+    {
+        GameObject Robot = GameObject.Find("Robot");
+        roboCom = Robot.GetComponent<robotCommunication>();
+        vel = new Vector3(0, 0, 0);
+        rot = new Vector3(0.0f, 0.0f, 0.0f);
+        transform.position = new Vector3(0, 0, 0);
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        float x = 0, y = 0, z = 0;
+        roboCom.robotValues.TryGetValue("Pitch", out rot.x);
+        roboCom.robotValues.TryGetValue("Yaw", out rot.y);
+        roboCom.robotValues.TryGetValue("Roll", out rot.z);
+        roboCom.robotValues.TryGetValue("Distance", out distance);
+        rot.x *= -1;
+        rot.z *= -1;
+        //Angle
+        //rot -= initRot;
+        Vector3 finalRot = new Vector3(0, 0, 0);
+        finalRot.y = rot.y - initRot.y;
+        transform.rotation = Quaternion.Euler(finalRot);
+        //Position
+        transform.position += transform.forward * (distance - lastDistance);
+        lastDistance = distance;
+    }
+}

FRC 2019 Virtual Camera/Assets/Scripts/robotNavXControl.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ea5e8b30d3f960040ae1e01d3dd699d2
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

FRC 2019 Virtual Camera/Assets/Scripts/setPosition.cs

@@ -5,13 +5,13 @@ using UnityEngine.UI;
 
 public class setPosition : MonoBehaviour
 {
-    robotControl robotControl;
+    robotNavXControl robotControl;
 
     // Start is called before the first frame update
     public void Start()
     {
         GameObject Robot = GameObject.Find("Robot");
-        robotControl = Robot.GetComponent<robotControl>();
+        robotControl = Robot.GetComponent<robotNavXControl>();
     }
 
     // Update is called once per frame
@@ -23,17 +23,17 @@ public class setPosition : MonoBehaviour
         {
             if (dd.value == 1)
             {
-                robotControl.pos = new Vector3(-50, 10, -260);
+                robotControl.transform.position = new Vector3(-50, 0, -256);
             }
             else if (dd.value == 2)
             {
-                robotControl.pos = new Vector3(0, 10, -260);
+                robotControl.transform.position = new Vector3(0, 0, -256);
             }
             else if (dd.value == 3)
             {
-                robotControl.pos = new Vector3(50, 10, -260);
+                robotControl.transform.position = new Vector3(50, 0, -256);
             }
-            robotControl.initialRot = robotControl.yRot;
+            robotControl.initRot = robotControl.rot;
             dd.value = 0;
         }
     }