Compatability with Robopipe v2.0.0

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

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}
-  m_ShaderKeywords: _SMOOTHNESS_TEXTURE_ALBEDO_CHANNEL_A
-  m_LightmapFlags: 4
+  m_ShaderKeywords: _EMISSION _SMOOTHNESS_TEXTURE_ALBEDO_CHANNEL_A
+  m_LightmapFlags: 1
   m_EnableInstancingVariants: 0
   m_DoubleSidedGI: 0
   m_CustomRenderQueue: -1
@@ -73,5 +73,5 @@ Material:
     - _UVSec: 0
     - _ZWrite: 1
     m_Colors:
-    - _Color: {r: 0.7924528, g: 0.7887148, b: 0.7887148, a: 1}
-    - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
+    - _Color: {r: 0, g: 0.8480973, b: 1, a: 1}
+    - _EmissionColor: {r: 0, g: 0.19711433, b: 0.2264151, a: 1}

FRC 2019 Virtual Camera/Assets/Models/2019SimpleField.obj.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 4e0e207295f654e429a11bbe0880a490
+guid: 75a4bc78aeb04c747bfb4dbc677abb87
 ModelImporter:
   serializedVersion: 23
   fileIDToRecycleName:

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

@@ -9,16 +9,22 @@ using UnityEngine;
 
 public class robotCommunication : MonoBehaviour
 {
+    public bool isData = false;
     public static int portNumber = 4388;
     public int bytesAvailable;
+    List<string> keys = new List<string>();
     public SortedList<string, float> robotValues =
             new SortedList<string, float>
             {
-                { "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;
         }
     }
 }

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<robotCommunication>();
-        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;
+        }
     }
 }