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This commit is contained in:
Keenan D. Buckley
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using System;
|
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using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using System.Globalization;
|
||||
using System.Net;
|
||||
using System.Net.Sockets;
|
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using System.Text;
|
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using UnityEngine;
|
||||
|
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public class robotCommunication : MonoBehaviour
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{
|
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public static int portNumber = 4388;
|
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public int bytesAvailable;
|
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public SortedList<string, float> robotValues =
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new SortedList<string, float>
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{
|
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{ "encoder", 0.0f },
|
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{ "navX", 0.0f },
|
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};
|
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|
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public string input;
|
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|
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IPEndPoint serverAddress = new IPEndPoint(IPAddress.Parse("127.0.0.1"), portNumber);
|
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Socket clientSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
|
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|
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short currentIndex;
|
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float currentValue;
|
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|
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// Start is called before the first frame update
|
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void Start()
|
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{
|
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Console.WriteLine("Connecting...");
|
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clientSocket.Connect(serverAddress);
|
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Console.WriteLine("Connected");
|
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}
|
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|
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// Update is called once per frame
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void Update()
|
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{
|
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bytesAvailable = clientSocket.Available;
|
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if (bytesAvailable == 12)
|
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{
|
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byte[] byteInput = new byte[100];
|
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clientSocket.Receive(byteInput);
|
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input = Encoding.UTF8.GetString(byteInput);
|
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string[] values = input.Split('|');
|
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robotValues["encoder"] = float.Parse(values[0], CultureInfo.InvariantCulture.NumberFormat);
|
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robotValues["navX"] = float.Parse(values[1], CultureInfo.InvariantCulture.NumberFormat);
|
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clientSocket.Send(new byte[] { 100 });
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}
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}
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}
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userData:
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using System;
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using System.Collections;
|
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using System.Collections.Generic;
|
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using System.Text;
|
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using UnityEngine;
|
||||
|
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public class robotControl : MonoBehaviour
|
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{
|
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public float yRot, yAng;
|
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public float avgEncoder, lastEncoder;
|
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public Vector3 pos;
|
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public Vector3 rot;
|
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robotCommunication roboCom;
|
||||
|
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// Start is called before the first frame update
|
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void Start()
|
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{
|
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GameObject Robot = GameObject.Find("Robot");
|
||||
roboCom = Robot.GetComponent<robotCommunication>();
|
||||
pos = new Vector3(0, 10, -260);
|
||||
rot = new Vector3(0.0f, 0.0f, 0.0f);
|
||||
|
||||
gameObject.transform.position = pos;
|
||||
roboCom.robotValues.TryGetValue("encoder", out avgEncoder);
|
||||
lastEncoder = avgEncoder;
|
||||
}
|
||||
|
||||
// Update is called once per frame
|
||||
void Update()
|
||||
{
|
||||
roboCom.robotValues.TryGetValue("encoder", out yRot);
|
||||
roboCom.robotValues.TryGetValue("encoder", out avgEncoder);
|
||||
yAng = (yRot + 90) * Mathf.Deg2Rad;
|
||||
pos.x += ((avgEncoder - lastEncoder) * Mathf.Cos(yAng));
|
||||
pos.z += ((avgEncoder - lastEncoder) * Mathf.Sin(yAng));
|
||||
///TODO: Adjust yRot to fall within -180 to 180
|
||||
rot.y = yRot;
|
||||
transform.rotation = Quaternion.Euler(rot);
|
||||
transform.position = pos;
|
||||
lastEncoder = avgEncoder;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,11 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 3ad2403fd7bea294a9b282ec3181df43
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
Reference in New Issue
Block a user