v5 ITS ALIVE, IT WALKS!

2018-unity-sim/Assets/RotationControl.cs

@@ -81,9 +81,9 @@ public class RotationControl : MonoBehaviour
         //rotation.y = r2.update();
         //rotation.z = r3.update();
 
-        transformation.x = r4.update();
+        //transformation.x = r4.update();
         //transformation.y = r5.update();
-        transformation.z = r6.update();
+        //transformation.z = r6.update();
 
         /*transformation2.x = r7.update();
         transformation2.y = r8.update();

2018-unity-sim/Assets/Serial.cs

@@ -23,42 +23,47 @@ public class Serial {
         }
     }
 
+    public bool enabled = false;
+
     SerialPort serialPort;
 
     public void send(int start, int a, int b, int c)
     {
-        if (serialPort == null)
+        if (enabled)
         {
-            serialPort = new SerialPort(@"\\.\" + "COM10", 115200);
+            if (serialPort == null)
+            {
+                serialPort = new SerialPort(@"\\.\" + "COM10", 115200);
 
-            serialPort.Open();
-            serialPort.DiscardOutBuffer();
-            serialPort.DiscardInBuffer();
-        }
+                serialPort.Open();
+                serialPort.DiscardOutBuffer();
+                serialPort.DiscardInBuffer();
+            }
 
-        if (serialPort is SerialPort)
-        {
+            if (serialPort is SerialPort)
+            {
 
-            serialPort.Write(" #");
-            serialPort.Write(start.ToString());
-            serialPort.Write(" P");
-            serialPort.Write(a.ToString());
+                serialPort.Write(" #");
+                serialPort.Write(start.ToString());
+                serialPort.Write(" P");
+                serialPort.Write(a.ToString());
 
-            start++;
+                start++;
 
-            serialPort.Write(" #");
-            serialPort.Write(start.ToString());
-            serialPort.Write(" P");
-            serialPort.Write(b.ToString());
+                serialPort.Write(" #");
+                serialPort.Write(start.ToString());
+                serialPort.Write(" P");
+                serialPort.Write(b.ToString());
 
-            start++;
+                start++;
 
-            serialPort.Write(" #");
-            serialPort.Write(start.ToString());
-            serialPort.Write(" P");
-            serialPort.Write(c.ToString());
+                serialPort.Write(" #");
+                serialPort.Write(start.ToString());
+                serialPort.Write(" P");
+                serialPort.Write(c.ToString());
 
-            serialPort.Write(" \r");
+                serialPort.Write(" \r");
+            }
         }
     }
 

2018-unity-sim/Assets/Walk.cs

@@ -0,0 +1,101 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Walk : MonoBehaviour
+{
+    public List<GameObject> legs = new List<GameObject>();
+    private List<Vector3> legsInitial = new List<Vector3>();
+
+    // Use this for initialization
+    void Start()
+    {
+        for (int index = 0; index < legs.Count; ++index)
+        {
+            legsInitial.Add(legs[index].GetComponent<Leg>().point);
+        }
+    }
+
+    struct step
+    {
+        public Vector3 pos;
+        public bool inAir;
+
+        public step(Vector3 p, bool i)
+        {
+            pos = p;
+            inAir = i;
+        }
+    }
+
+    // 1, 3, 5 -= 3
+
+    int offset(int i, int offset, int max)
+    {
+        return  i - offset < 0 ? (max - (offset - i)) : i - offset;
+    }
+
+    step[] s = {
+        new step(new Vector3(-1, 0, 0), false),
+
+        new step(new Vector3(0, -2, 0), false),
+
+        new step(new Vector3(0, 0, 0), false), // rest
+
+        new step(new Vector3(1, 0, 0), false),
+        new step(new Vector3(1, 0, 0), false),    
+        
+        new step(new Vector3(0, 0, 0), false), // rest
+
+        new step(new Vector3(0, 2, 0), true),
+        new step(new Vector3(-1, 0, 0), false),
+    };
+
+    public int st = 5;
+    public int speed2 = 30;
+    int speed = 10;
+
+    public float rotation = 0;
+
+    int size = 8;
+
+    public float walkspeed = 1;
+
+    // Update is called once per frame
+    void FixedUpdate()
+    {
+        if (speed <= 0)
+        {
+            if (st >= size-1)
+                st = 0;
+            else
+                st++;
+
+            for (int index = 0; index < legs.Count; ++index)
+            {
+                int t = st;
+                if (index == 1 || index == 3 || index == 5)
+                {
+                    t = offset(st, 4, size);
+                }
+
+                if (s[t].inAir == false)
+                {
+                    Vector3 t2 = s[t].pos;
+                    t2.x *= walkspeed;
+
+                    // rotate x,y around rotation.
+                    legs[index].GetComponent<Leg>().point += Quaternion.Euler(0, rotation, 0) * t2;
+                }
+                else
+                {
+                    legs[index].GetComponent<Leg>().point = legsInitial[index] + s[t].pos;
+                }
+            }
+
+            speed = speed2;
+        }
+        else
+            speed--;
+    }
+}

2018-unity-sim/Assets/Walk.cs.meta

@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 62866dc69f17c5f40a7ec527e34e82f1
+timeCreated: 1542141752
+licenseType: Free
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: