From b2ef9af37a62ff35ad461ec811894d92b2e2da8d Mon Sep 17 00:00:00 2001 From: "Keenan D. Buckley" Date: Mon, 28 Jan 2019 16:16:40 -0700 Subject: [PATCH] Compatability with Robopipe v2.0.0 --- FRC 2019 Virtual Camera/.collabignore | 33 + .../Assets/Materials/Detail.mat | 8 +- .../Assets/Models/2019SimpleField.obj.meta | 2 +- .../Assets/Scenes/main.unity | 1380 ++++++++++++++++- .../Assets/Scripts/robotCommunication.cs | 34 +- .../Assets/Scripts/robotControl.cs | 47 +- 6 files changed, 1468 insertions(+), 36 deletions(-) create mode 100644 FRC 2019 Virtual Camera/.collabignore diff --git a/FRC 2019 Virtual Camera/.collabignore b/FRC 2019 Virtual Camera/.collabignore new file mode 100644 index 0000000..dded782 --- /dev/null +++ b/FRC 2019 Virtual Camera/.collabignore @@ -0,0 +1,33 @@ +# =========================== +# Default Collab Ignore Rules +# =========================== + +# OS Generated +# ============ +.DS_Store +._* +.Spotlight-V100 +.Trashes +Icon? +ehthumbs.db +[Tt]humbs.db +[Dd]esktop.ini + +# Visual Studio / MonoDevelop generated +# ===================================== +[Ee]xported[Oo]bj/ +*.userprefs +*.csproj +*.pidb +*.suo +*.sln +*.user +*.unityproj +*.booproj + +# Unity generated +# =============== +[Oo]bj/ +[Bb]uild +sysinfo.txt +*.stackdump diff --git a/FRC 2019 Virtual Camera/Assets/Materials/Detail.mat b/FRC 2019 Virtual Camera/Assets/Materials/Detail.mat index c6e0032..c4be4b4 100644 --- a/FRC 2019 Virtual Camera/Assets/Materials/Detail.mat +++ b/FRC 2019 Virtual Camera/Assets/Materials/Detail.mat @@ -9,8 +9,8 @@ Material: m_PrefabAsset: {fileID: 0} m_Name: Detail m_Shader: {fileID: 46, guid: 0000000000000000f000000000000000, type: 0} - 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{ "encoder", 0.0f }, - { "navX", 0.0f }, + { "Left Pos Inches", 0.0f }, + { "Yaw Angle Deg", 0.0f }, + { "Right Pos Inches", 0.0f }, + { "Elevator Pos Ticks", 0.0f }, }; - public string input; + 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); @@ -29,24 +35,36 @@ public class robotCommunication : MonoBehaviour // Start is called before the first frame update void Start() { - Console.WriteLine("Connecting..."); clientSocket.Connect(serverAddress); - Console.WriteLine("Connected"); + foreach (var valuePair in robotValues) + { + request += valuePair.Key; + keys.Add(valuePair.Key); + request += ","; + } + request = request.Substring(0,request.Length-1); + byte[] byteRequest = Encoding.UTF8.GetBytes(request); + clientSocket.Send(byteRequest); } // Update is called once per frame void Update() { bytesAvailable = clientSocket.Available; - if (bytesAvailable == 12) + if (bytesAvailable > 10) { 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); + int i = 0; + foreach (string key in keys) + { + robotValues[keys[i]] = float.Parse(values[i], CultureInfo.InvariantCulture.NumberFormat); + i++; + } clientSocket.Send(new byte[] { 100 }); + isData = true; } } } \ No newline at end of file diff --git a/FRC 2019 Virtual Camera/Assets/Scripts/robotControl.cs b/FRC 2019 Virtual Camera/Assets/Scripts/robotControl.cs index b829833..7b0891f 100644 --- a/FRC 2019 Virtual Camera/Assets/Scripts/robotControl.cs +++ b/FRC 2019 Virtual Camera/Assets/Scripts/robotControl.cs @@ -6,37 +6,46 @@ using UnityEngine; public class robotControl : MonoBehaviour { - public float yRot, yAng; - public float avgEncoder, lastEncoder; - public Vector3 pos; - public Vector3 rot; + public float initialRot, yRot, yAng; + public float avgEncoder, lastEncoder, leftEncoder, rightEncoder; + public Vector3 pos, rot; + 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(); - pos = new Vector3(0, 10, -260); + pos = new Vector3(0, 10, -257.5f); 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; + 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) + { + avgEncoder = (leftEncoder + rightEncoder) / 2; + lastEncoder = avgEncoder; + initialRot = yRot; + transform.position = pos; + start = true; + } else if (roboCom.isData) { + avgEncoder = (leftEncoder + rightEncoder) / 2; + yAng = (yRot - initialRot) * Mathf.Deg2Rad; + float _yAng = yAng; + pos.x -= (avgEncoder - lastEncoder) * Mathf.Cos(yAng); + _yAng = yAng; + pos.z += (avgEncoder - lastEncoder) * Mathf.Sin(yAng); + rot.y = yAng * Mathf.Rad2Deg; + transform.rotation = Quaternion.Euler(rot); + transform.position = pos; + lastEncoder = avgEncoder; + } } }