mirror of
https://github.com/Team4388/2019-Virtual-Field.git
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This commit is contained in:
Keenan D. Buckley
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||||||
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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 });
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
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userData:
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|
assetBundleName:
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||||||
|
assetBundleVariant:
|
||||||
@@ -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;
|
||||||
|
}
|
||||||
|
}
|
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@@ -0,0 +1,11 @@
|
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|
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assetBundleName:
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assetBundleVariant:
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@@ -0,0 +1,43 @@
|
|||||||
|
|
||||||
|
=== Tue Jan 8 22:41:27 2019
|
||||||
|
|
||||||
|
Packages were changed.
|
||||||
|
Update Mode: mergeDefaultDependencies
|
||||||
|
|
||||||
|
The following packages were added:
|
||||||
|
com.unity.analytics@3.2.2
|
||||||
|
com.unity.purchasing@2.0.3
|
||||||
|
com.unity.ads@2.3.1
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|
com.unity.textmeshpro@1.3.0
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com.unity.package-manager-ui@2.0.3
|
||||||
|
com.unity.collab-proxy@1.2.15
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||||||
|
com.unity.modules.ai@1.0.0
|
||||||
|
com.unity.modules.animation@1.0.0
|
||||||
|
com.unity.modules.assetbundle@1.0.0
|
||||||
|
com.unity.modules.audio@1.0.0
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com.unity.modules.cloth@1.0.0
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||||||
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com.unity.modules.director@1.0.0
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||||||
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com.unity.modules.imageconversion@1.0.0
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com.unity.modules.imgui@1.0.0
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||||||
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com.unity.modules.jsonserialize@1.0.0
|
||||||
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com.unity.modules.particlesystem@1.0.0
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||||||
|
com.unity.modules.physics@1.0.0
|
||||||
|
com.unity.modules.physics2d@1.0.0
|
||||||
|
com.unity.modules.screencapture@1.0.0
|
||||||
|
com.unity.modules.terrain@1.0.0
|
||||||
|
com.unity.modules.terrainphysics@1.0.0
|
||||||
|
com.unity.modules.tilemap@1.0.0
|
||||||
|
com.unity.modules.ui@1.0.0
|
||||||
|
com.unity.modules.uielements@1.0.0
|
||||||
|
com.unity.modules.umbra@1.0.0
|
||||||
|
com.unity.modules.unityanalytics@1.0.0
|
||||||
|
com.unity.modules.unitywebrequest@1.0.0
|
||||||
|
com.unity.modules.unitywebrequestassetbundle@1.0.0
|
||||||
|
com.unity.modules.unitywebrequestaudio@1.0.0
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|
com.unity.modules.unitywebrequesttexture@1.0.0
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||||||
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||||||
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com.unity.modules.video@1.0.0
|
||||||
|
com.unity.modules.vr@1.0.0
|
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|
com.unity.modules.wind@1.0.0
|
||||||
|
com.unity.modules.xr@1.0.0
|
||||||
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|
|||||||
|
{
|
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||||||
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|
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|
||||||
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|
||||||
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||||||
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|
||||||
|
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|
||||||
|
"com.unity.modules.ui": "1.0.0",
|
||||||
|
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|
||||||
|
"com.unity.modules.umbra": "1.0.0",
|
||||||
|
"com.unity.modules.unityanalytics": "1.0.0",
|
||||||
|
"com.unity.modules.unitywebrequest": "1.0.0",
|
||||||
|
"com.unity.modules.unitywebrequestassetbundle": "1.0.0",
|
||||||
|
"com.unity.modules.unitywebrequestaudio": "1.0.0",
|
||||||
|
"com.unity.modules.unitywebrequesttexture": "1.0.0",
|
||||||
|
"com.unity.modules.unitywebrequestwww": "1.0.0",
|
||||||
|
"com.unity.modules.vehicles": "1.0.0",
|
||||||
|
"com.unity.modules.video": "1.0.0",
|
||||||
|
"com.unity.modules.vr": "1.0.0",
|
||||||
|
"com.unity.modules.wind": "1.0.0",
|
||||||
|
"com.unity.modules.xr": "1.0.0"
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,17 @@
|
|||||||
|
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|
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|
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|
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Reference in New Issue
Block a user