v6 rotational walking :D

2018-unity-sim/Assets/Leg.cs

@@ -24,7 +24,7 @@ public class Leg : MonoBehaviour {
     public double translateZ = 0;
 
     public GameObject pointShouldBe;
-    public Vector3 pos = new Vector3(0, 0, 0);
+    //public Vector3 pos = new Vector3(0, 0, 0);
 
     public int startServo = -1;
 
@@ -99,6 +99,16 @@ public class Leg : MonoBehaviour {
         pointShouldBe.transform.localPosition = foot.pos;
     }
 
+    public Vector3 getWorldPos()
+    {
+        return point + new Vector3((float)translateX, (float)translateY, (float)translateZ);
+    }
+
+    public void setWorldPos(Vector3 pos)
+    {
+        this.point = pos - new Vector3((float)translateX, (float)translateY, (float)translateZ);
+    }
+
     public static float Remap(float value, float from1, float to1, float from2, float to2)
     {
         return (value - from1) / (to1 - from1) * (to2 - from2) + from2;

2018-unity-sim/Assets/Serial.cs

@@ -35,9 +35,16 @@ public class Serial {
             {
                 serialPort = new SerialPort(@"\\.\" + "COM10", 115200);
 
-                serialPort.Open();
+                try
-                serialPort.DiscardOutBuffer();
+                {
-                serialPort.DiscardInBuffer();
+                    serialPort.Open();
+                    serialPort.DiscardOutBuffer();
+                    serialPort.DiscardInBuffer();
+                }
+                catch
+                {
+                    enabled = false;
+                }
             }
 
             if (serialPort is SerialPort)

2018-unity-sim/Assets/Walk.cs

@@ -47,8 +47,8 @@ public class Walk : MonoBehaviour
         
         new step(new Vector3(0, 0, 0), false), // rest
 
-        new step(new Vector3(0, 2, 0), true),
+        new step(new Vector3(0, 2, 0), false),
-        new step(new Vector3(-1, 0, 0), false),
+        new step(new Vector3(-1, 0, 0), true),
     };
 
     public int st = 5;

2018-unity-sim/Assets/Walk2.cs

@@ -0,0 +1,103 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Walk2 : 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 float rotation;
+        public float height;
+        public bool inAir;
+
+        public step(float r, float h, bool i)
+        {
+            rotation = r;
+            height = h;
+            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(-1, 0, false),
+
+        new step(0, -2, false),
+
+        new step(0, 0, false), // rest
+
+        new step(1, 0, false),
+        new step(1, 0, false),    
+        
+        new step(0, 0, false), // rest
+
+        new step(0, 2, false),
+        new step(-1, 0, true),
+    };
+
+    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 n = legs[index].GetComponent<Leg>().getWorldPos();
+                    n = Quaternion.Euler(0, rotation * s[t].rotation, 0) * n;
+                    n.y += s[t].height;
+                    // rotate x,y around rotation.
+                    legs[index].GetComponent<Leg>().setWorldPos(n);
+                }
+                else
+                {
+                    legs[index].GetComponent<Leg>().point = legsInitial[index] + new Vector3(0, s[t].height, 0);
+                }
+            }
+
+            speed = speed2;
+        }
+        else
+            speed--;
+    }
+}

2018-unity-sim/Assets/Walk2.cs.meta

@@ -0,0 +1,13 @@
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+guid: 91e6f3895f276d94da1803128e6290e0
+timeCreated: 1542229569
+licenseType: Free
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