Initial Commit

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

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+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Globalization;
+using System.Net;
+using System.Net.Sockets;
+using System.Text;
+using UnityEngine;
+
+public class robotCommunication : MonoBehaviour
+{
+    public static int portNumber = 4388;
+    public int bytesAvailable;
+    public SortedList<string, float> robotValues =
+            new SortedList<string, float>
+            {
+                { "encoder", 0.0f },
+                { "navX", 0.0f },
+            };
+
+    public string input;
+
+    IPEndPoint serverAddress = new IPEndPoint(IPAddress.Parse("127.0.0.1"), portNumber);
+    Socket clientSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+
+    short currentIndex;
+    float currentValue;
+
+    // Start is called before the first frame update
+    void Start()
+    {
+        Console.WriteLine("Connecting...");
+        clientSocket.Connect(serverAddress);
+        Console.WriteLine("Connected");
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        bytesAvailable = clientSocket.Available;
+        if (bytesAvailable == 12)
+        {
+            byte[] byteInput = new byte[100];
+            clientSocket.Receive(byteInput);
+            input = Encoding.UTF8.GetString(byteInput);
+            string[] values = input.Split('|');
+            robotValues["encoder"] = float.Parse(values[0], CultureInfo.InvariantCulture.NumberFormat);
+            robotValues["navX"] = float.Parse(values[1], CultureInfo.InvariantCulture.NumberFormat);
+            clientSocket.Send(new byte[] { 100 });
+        }
+    }
+}

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

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

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+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Text;
+using UnityEngine;
+
+public class robotControl : MonoBehaviour
+{
+    public float yRot, yAng;
+    public float avgEncoder, lastEncoder;
+    public Vector3 pos;
+    public Vector3 rot;
+    robotCommunication roboCom;
+
+    // Start is called before the first frame update
+    void Start()
+    {
+        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;
+    }
+}

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

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