Initial Commit

2026-06-09 00:28:01 -06:00 · 2019-01-18 19:54:55 -07:00
parent f37167f725
commit 2b26a07105
38 changed files with 1259726 additions and 0 deletions
@@ -0,0 +1,42 @@
+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;
+    }
+}