Firmware simulation, Unity project, and sim-verified robot fixes
Simulation - sim/: the unchanged robot firmware compiled into hexapod_sim.dll against PC stand-ins (Arduino, Servo, Wire + register-level MPU6050, RF24 with matching-config radio), a kinematic body model (support plane + planted-foot odometry) that also drives the simulated IMU, and a headless smoke test (sim_smoke). build.ps1 builds and tests. - Hexapod_Simulation_Unity/ folded in (history kept in a bundle outside the repo). Assets/HexapodSim loads the DLL, drives the existing leg rig, and offers joystick / keyboard / robot-serial input plus a test panel. Robot (all found or confirmed in the simulation) - Config.h geometry taken from the Unity model. - IK femur elevation sign, gait stance direction, body pose rotation direction, yaw lever arm. - Stance feet integrated from the current command; gait restarts at mid-stance; heading integrates the applied turn rate, only while walking. - Leg clearance and reach checks (Limits::feetFeasible); walk command and body pose scaled as a whole, pose scale rate-limited, planted feet guarded so the body never snaps or legs collide. - Robot-gyro self-leveling as an integrator. - Heading mode: steering relative to the body; S walks backward. - Standing height from the remote (STANCE_HEIGHT_RANGE_MM). Protocol v3 (reflash both boards) - CmdPacket gains body_height (22 bytes). Remote - Height slider (Nextion hHeight/nHeight, serial [ ]). - Fixed unspecified I2C read order in RemoteIMU. LEGACY/: owner's old Nextion HMI and remote hardware assets. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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+3
@@ -0,0 +1,3 @@
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{
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"cmake.sourceDirectory": "D:/Claude/Hexapod/sim"
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}
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+166
-20
@@ -2,11 +2,22 @@
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Hexapod walking robot plus a custom handheld remote, both Teensy-based and
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linked one-way over nRF24L01 (remote → robot, with hardware auto-ack only).
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This file is the persistent context for working on either side. Read it
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fully before changing anything.
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A Unity simulation runs the *unchanged* robot firmware as a DLL. This file
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is the persistent context for working on any part of it. Read it fully
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before changing anything.
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## Layout and toolchain
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```
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robot/ Teensy 4.0 firmware (PlatformIO env robot)
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remote/ Teensy 4.1 firmware (PlatformIO env remote)
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shared/HexapodProtocol/ wire protocol, used by robot, remote and sim
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sim/ robot firmware -> hexapod_sim.dll (CMake + g++), headless smoke test
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Hexapod_Simulation_Unity/ Unity 6000.6 project that loads the DLL (Assets/HexapodSim/)
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LEGACY/ owner's older material for reference (remote/remote.HMI = old Nextion UI, 6 pages)
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scripts/ PlatformIO helper
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```
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PlatformIO, one `platformio.ini`, two environments:
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| Env | Board | Sketch dir | Purpose |
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@@ -29,7 +40,7 @@ PlatformIO, one `platformio.ini`, two environments:
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## Communication contract (`shared/HexapodProtocol/HexapodProtocol.h`)
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`CmdPacket`, 20 bytes (static_asserted), sent remote → robot at 100 Hz
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`CmdPacket`, 22 bytes (static_asserted; protocol v3), sent remote → robot at 100 Hz
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(robot `CONTROL_HZ` is 60):
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| Field | Range | Meaning |
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@@ -39,6 +50,7 @@ PlatformIO, one `platformio.ini`, two environments:
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| `yaw_rate` | ±1000 | + turn left (CCW). Ignored by the robot in mode B |
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| `rx, ry, rz` | ±1000 | right stick: roll/pitch/yaw, or X/Y/Z offset when `FLAG_RSTICK_XLATE` |
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| `remote_roll, remote_pitch` | ±1000 | handset tilt feedforward, used only when `FLAG_REMOTE_GYRO` |
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| `body_height` | ±1000 | standing height setting: `STANCE_HEIGHT_MM` ± `STANCE_HEIGHT_RANGE_MM` (150 ± 50), 0 = default; the robot rate-limits it (`STANCE_HEIGHT_RATE_MM_S`) and everything built on `Kinematics::neutralStance()` follows |
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| `speed_scale` | 0–255 | multiplies vx/vy on the robot |
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| `flags` | bits | `ARMED, STAND, WALK, MODE_B, RSTICK_XLATE, GAIT_WAVE, REMOTE_GYRO, ROBOT_GYRO` (bits 0–7) |
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| `seq` | 0–255 | increments per packet (robot doesn't check it yet) |
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@@ -76,12 +88,12 @@ joint-rate clamp → servos.
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| `Config.h` | **all placeholder geometry/pins/rates** |
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| `SmoothedValue.h` | rate-limited setpoint smoother used for every discrete command |
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| `Kinematics` | per-leg 3-DOF analytic IK, `neutralStance()` |
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| `GaitEngine` | tripod/wave patterns, per-leg phase, pattern swap only at touchdown |
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| `BodyPose` | 6-axis body pose (smoothed command + IMU roll/pitch correction) applied to foot targets |
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| `GaitEngine` | tripod/wave patterns, per-leg phase, pattern swap only at touchdown. `limitTwist()` (called in robot.ino right after InputMapper, so the heading estimate integrates the *achieved* ω) scales the walk command until its stride envelope (`strideEnvelope()`: even/odd legs at opposite stride ends, plus a lifted set) is feasible, so full-rate turning can't make neighbouring legs collide. Stance feet are *integrated* each tick from the current twist (v + ω×r at the foot); swing feet arc from lift-off to the next leading edge. `resetFeet()` on entering WALKING restarts the cycle with grounded legs at mid-stance |
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| `BodyPose` | 6-axis body pose (smoothed command + IMU roll/pitch correction), applied to foot targets as the *inverse* rotation, so the body moves as commanded. `fitToReach()` scales the *whole* pose by one factor (binary search on `Limits::feetFeasible`; drops at once, recovers at 1/s) so combined poses never bend individual legs out of a rigid foot pattern or into each other. While walking it fits against the stride envelope, not the current feet, so it doesn't saw with the step cycle |
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| `RobotIMU` | MPU6050 complementary filter (α 0.98), gated by `FLAG_ROBOT_GYRO` |
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| `StateMachine` | DISARMED → SIT → STAND → WALKING, sit/stand blend at 1/s. Disarm is instant |
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| `InputMapper` | CmdPacket → Twist + PoseCommand + mode flags. Mode B = heading-hold from stick angle. Adds remote tilt on top of stick pose when `FLAG_REMOTE_GYRO`, clamped to `MAX_TILT_DEG` |
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| `Limits` | workspace clamp (70 mm horiz / 60 mm vert), joint rate clamp, ≥3-legs-in-stance check (not acted on yet) |
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| `InputMapper` | CmdPacket → Twist + PoseCommand + mode flags + stance height. Mode B = steering **relative to where the body faces right now**: the forward/back stick component sets walking direction (vx sign), the sideways component steers (target = current heading + atan2(vy, |vx|) every tick). So W = straight on, S = straight **back** (not turn around; owner's request), W/S+A = walk while turning left, A alone = turn on the spot while held. On release the target freezes at the current heading (hold). An earlier version froze the reference at the first push, so heading only changed after releasing W; the owner rejected that. Mode A keeps the target = current heading so switching to B never jumps. Forward speed × max(0, cos(heading error)), so big corrections turn in place first. Adds remote tilt on top of stick pose when `FLAG_REMOTE_GYRO`, clamped to `MAX_TILT_DEG` |
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| `Limits` | workspace clamp (70 mm horiz / 60 mm vert), joint rate clamp, ≥3-legs-in-stance check (not acted on yet). `feetFeasible()` = every foot in its workspace with valid IK **and** neighbouring legs' segments (coxa/femur/tibia, via `Kinematics::jointPositions`) ≥ `LEG_CLEARANCE_MM` apart. This is the single "physically possible" test used by gait and pose limiting |
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| `Comms` | nRF24 RX, link timeout, `injectPacket()` for the harness |
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| `ServoDriver` | attach/detach/write, skips invalid IK solutions |
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@@ -110,15 +122,74 @@ Remote stick-frame convention: logical X + = right, Y + = forward, twist +
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= CCW. The mapping into the packet is in `PacketBuilder.cpp` (e.g.
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`vy = -L_X`, translate mode `ry = -R_X`).
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## Simulation (`sim/` + `Hexapod_Simulation_Unity/`), details in `sim/README.md`
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- **Principle:** the robot firmware is compiled unmodified for the PC. No
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`#ifdef SIM` in `robot/`, ever. Hardware is replaced beneath it by
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`sim/shim/` stand-ins (`Arduino.h`, `Servo.h`, `Wire.h` with a
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register-level MPU6050, `RF24.h` with a matching-config radio,
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`SPI.h`, `EEPROM.h`).
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- **Build:** `.\sim\build.ps1` (configure + build + smoke test; uses
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g++/cmake/ninja from `C:\Strawberry\c\bin` if they're not on PATH).
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Rebuild after any `robot/` or `shared/` change.
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- **The dev PC is Windows, and the owner uses Windows PowerShell 5.1.**
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Every documented command must work there: no `&&`, one command per line,
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or a `.ps1` script.
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- **Gotchas (already solved; don't undo them):**
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- `robot/` must never be on any include path, not even `-iquote`. On
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Windows' case-insensitive filesystem GCC's `<limits.h>` chain would pick
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up `robot/Limits.h`. So each `robot/*.cpp` is compiled through a
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generated wrapper in `sim/build/robot_src/`, and sim sources include
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`"../robot/..."` directly.
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- The shim's `min`/`max` return `std::common_type` by value; a `decltype`
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return type gave dangling references.
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- `robot_ino.cpp` compiles `robot.ino` and exposes read-only views of its
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globals (`SimRobotAccess.h`). The API is in `HexapodSimApi.h`
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(`HXSIM_API_VERSION`, mirrored by `HexapodSimNative.ExpectedApiVersion`
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in C#). The FK in `HexapodSimApi.cpp` is deliberately independent of
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`robot/Kinematics.cpp`.
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- **Joint convention the sim (and Config.h limits) assume:** coxa + = CCW
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from the mount angle; femur = elevation, + = up; tibia relative to the
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femur, + = up (knee-down stance is about −98°). Rig mapping:
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`hip1.y = −(coxa + mount offset)`, `Hip2.x = −femur`,
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`Knie.x = −(tibia + 90)`.
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- **Unity (`Assets/HexapodSim/`):**
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- `HexapodSimBootstrap` auto-adds `HexapodSimulation` in any scene and
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disables the old scripts (`Walk`, `RotationControl`, `Leg`,
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`HandleHoystick`). Those are kept for reference only.
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- `HexapodSimNative` loads a temp copy of the DLL via
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LoadLibrary/GetProcAddress, so there's no file lock and each Play is a
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fresh power-on.
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- `SimRemote` stands in for the remote (Joystick axes "1"–"6" as in the
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old project, Keyboard, or the robot's own serial harness) and mirrors
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`remote/PacketBuilder.cpp` + `RemoteState.cpp` rules. Keep them in sync.
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- `SimTestPanel` is the IMGUI panel (F1).
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- Body motion is kinematic and lives **in the DLL** (`sim/SimBody.cpp`,
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`hxsim_get_body`), so Unity shows exactly what `sim_smoke` checks.
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The ground is the support plane (a plane all feet are on or above;
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prefer most contacts, then continuity with the last ground), and 2D
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Kabsch on the feet that stayed grounded gives planar motion. The
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simulated MPU6050 is fed from it after every control tick. Ground tilt
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comes from `hxsim_set_ground_tilt`. The old C# "lowest feet + plane
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fit" model flipped the body as soon as it rolled (only one side
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counted as grounded); don't reintroduce it.
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- Robot forward = Unity −X, 1 Unity unit = 10 mm.
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- The Unity project was folded in from its own repo. Its history is in
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`D:\Claude\Hexapod_Simulation_Unity-history.bundle`. Its nested `.git`
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must be removed by the owner (deleting it was blocked for Claude).
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## Testing without the other board
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- **Robot without remote:** `#define TEST_SERIAL_INPUT` in `robot.ino` (on
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by default). Serial 115200, single keys: `a` arm, `s` sit/stand, `w/x`
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vx ±200, `q/e` vy ±200 (left/right), `z/c` yaw_rate ∓/±200, `g` gait,
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vx ±200, `q/e` vy ±200 (left/right), `z/c` yaw_rate ±200 (left/right), `g` gait,
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`m` mode, space = zero velocity. Keys inject through
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`Comms::injectPacket()`, the same path radio packets take. Order: arm →
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stand → walk. The harness does not exercise the right stick or remote
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tilt. Add keys if needed.
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- **Robot firmware in simulation:** `sim/build/sim_smoke.exe` (headless,
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scripted checks), or Unity Play mode with Keyboard / Joystick / Robot
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serial input.
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- **Remote without robot or display:** the USB serial console (see
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`remote/README.md`). `p` shows raw/mapped sticks, IMU, link and state.
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`d` dumps packets at 10 Hz. With no robot, the link shows DOWN and
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@@ -128,20 +199,86 @@ Remote stick-frame convention: logical X + = right, Y + = forward, twist +
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## Placeholders and bench-check items (not yet verified on hardware)
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Robot (`robot/README.md` has detail):
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- All of `Config.h`: leg mount angles/positions, link lengths, joint
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limits, stance radius/height, servo pins, µs/deg calibration,
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`MAX_JOINT_DEG_S` (in robot.ino), Limits envelope, InputMapper maxima.
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- `Config.h` geometry now comes from the Unity model (owner's request),
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1 unit = 10 mm:
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- legs at X ±100 / 0, Y ±50 / ±65 mm,
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- mount angles ±90° (coxa straight sideways at servo center),
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- coxa/femur/tibia 55/100/150 mm,
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- stance radius 75 (so 130 mm out from the coxa pivot), height 150 mm.
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The old scene's `Leg.translateX` = ±5 was only the old code's rotation
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pivot; the rig hips are at x ±10. Still to confirm on the real chassis:
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joint limits, servo pins, µs/deg calibration, `MAX_JOINT_DEG_S` (in
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robot.ino), the Limits envelope, InputMapper maxima.
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- **Fixed (owner-approved):** the `Kinematics.cpp` femur elevation sign
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(`atan2(local_z, horiz)`; it used to solve for a foot above the hip, so
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every solution was invalid). Stance pose is now femur −1.2°, tibia
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−98.3°, feet exactly at −150 mm. `sim_smoke` guards this.
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- **Servo calibration model is too simple for this robot:** a single
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`SERVO_US_AT_0DEG` for all joints means tibia 0° (straight) = servo
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center, but the old Unity/servo code shows this build's knee servo
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center is tibia −90°. Left-side servos are also mirrored in the old code.
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Per-joint offset/direction would be needed in `ServoDriver` (robot code
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change, not made).
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- **Pin conflict:** `SERVO_PINS` leg 3 uses pins 11 and 12, which are
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Teensy 4.0 SPI MOSI/MISO needed by the nRF24. Must be moved. Some servo
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pins (26, 27, 30…) may also not be PWM-capable on the 4.0. Verify.
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- IK knee direction (`tibia_rad` sign), BodyPose roll/pitch sign, IMU
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register map, and the sit pose assuming feet stay grounded.
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- **Suspected gait direction inversion:** in `GaitEngine::update` the
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stance phase moves the foot from `neutral - half` to `neutral + half`,
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i.e. with the commanded direction. That pushes the body *backward* for
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+vx, and the same happens for yaw. Fix = swap start/end. Flagged to the
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owner, **not changed**. The harness `z`/`c` yaw keys currently rely on
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this behavior and need rechecking after the fix.
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- **Fixed after the owner saw them in Unity (sim_smoke now guards each):**
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- Right-stick rotations were inverted: `BodyPose::apply` rotated the feet
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by the pose instead of by its inverse. This also made the robot-gyro
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correction positive feedback.
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- Heading mode was off. The body turned at only 41% of the commanded ω
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(the gait used the hip as the yaw lever arm instead of the foot). The
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heading estimate also integrated while standing. Stance feet were
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interpolated between endpoints recomputed each tick, so a changing
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command undid part of the motion. And walking started with the feet at
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neutral but at arbitrary phases, so grounded legs overran the workspace
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clamp.
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- Now: mode A turns at about 95% of command, and mode B turns 83° of a
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commanded 90°. The rest is open-loop estimate error; fusing IMU yaw is
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the next step.
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- Combined right-stick poses (e.g. full roll+pitch+yaw) used to clamp
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each foot on its own, distorting the planted feet by up to 29 mm. Now
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the whole pose is reach-scaled (`BodyPose::fitToReach`). sim_smoke
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checks that four full-deflection combos keep the feet rigid within
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3 mm with no frozen servos. The Unity panel shows the scale
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("body pose 63% (leg reach limit)"), via `HxStatus.pose_reach_scale`
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(API version 2).
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- Legs could collide (full-rate turning needs ~60 mm half-strides, and
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neighbouring feet are ~100 mm apart), and walking while posing made
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the pose scale saw with the step cycle. Both are now handled by leg
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clearance in `Limits::feetFeasible` plus `GaitEngine::limitTwist` and
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envelope-based `fitToReach`. sim_smoke checks clearance with its own
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FK, and checks rigidity and steadiness while walking and posing. The
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panel shows "walk NN%" (`HxStatus.twist_scale`, API version 3).
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- Walking + rotate keys still freaked out. Changing the command
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mid-step ran planted feet out of reach, and the pose scale *snapped*
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down, which the per-joint rate clamp then tore out of formation. Now:
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- `GaitEngine::update` moves all planted feet by one common factor
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that keeps them feasible (with the pose applied), and the heading
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integrates `appliedTwist()`.
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- The pose scale moves at a bounded rate both ways
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(`REACH_DROP_PER_SEC` 3/s, recover 1/s).
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- While walking, the pose fits the requested stride and the current
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feet (walking has priority), and the walk is limited again against
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the current pose (`limitTwist(..., pose, chained)`), so it slows
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during the handover.
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- sim_smoke's "toggling rotate keys" check mimics a keyboard.
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- Robot-gyro self-leveling was `correction = -measured tilt`, which only
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halves a slope because the measurement includes the correction. It's
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now an integrator (`ROBOT_GYRO_KI` 3/s, clamped to
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`ROBOT_GYRO_MAX_CORR_DEG`) on (measured tilt − operator's commanded
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tilt). sim_smoke: an 8° ground is levelled to < 1° without
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oscillation.
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- **Fixed (owner-approved):** the `GaitEngine::update` stance direction.
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Stance now runs from `neutral + half` to `neutral - half`, so the feet
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push opposite to the commanded motion. The harness `z`/`c` keys were
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corrected to `z` = `yaw_rate` + (turn left). `sim_smoke` checks that
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+vx goes forward and +yaw_rate turns left.
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- `RobotIMU.cpp` reads `(Wire.read() << 8) | Wire.read()`, and C++ leaves
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the order of those two calls unspecified (fixed in the remote's copy).
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- Heading for mode B is open-loop (integrated commanded ω). Fusing IMU yaw
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is a planned upgrade.
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- `Limits::stancePolygonOk()` is computed but not acted on.
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@@ -153,15 +290,24 @@ Remote (`remote/README.md` has detail):
|
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- `IMU_AXIS_FROM_CHIP` / `IMU_AXIS_SIGN` depend on how the MPU6050 is
|
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mounted in the handset.
|
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- The Nextion must have `bauds=115200` in Program.s, and the HMI must match
|
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`NEXTION.md`. No `.HMI` file is in the repo yet. The compiled `.tft` is
|
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gitignored.
|
||||
`NEXTION.md`. The owner's old 6-page HMI is in `LEGACY/remote/remote.HMI`;
|
||||
its component names aren't readable outside Nextion Editor. Adapting
|
||||
`NextionUI` to it needs the owner's component list, or the old remote
|
||||
Teensy code, which the owner will add to `LEGACY/` when found. The
|
||||
compiled `.tft` is gitignored.
|
||||
- The Unity remote stand-in's joystick axis assignment (which of axes 4/6
|
||||
is forward) couldn't be recovered from the old code. Check it with the
|
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panel's raw-axis readout.
|
||||
- Radio retry timing (`RADIO_RETRY_*`) is untested under real link loss.
|
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## Working rules for this repo
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|
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- The **robot side is owner-verified code**. Don't edit `robot/` unless
|
||||
something is factually wrong relative to the protocol, and ask the owner
|
||||
first even then. Flag suspected robot bugs instead of fixing them.
|
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first even then. Flag suspected robot bugs instead of fixing them. To
|
||||
try a robot fix, copy `robot/ shared/ sim/` to a scratch dir, patch the
|
||||
copy and run `sim_smoke` there.
|
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- `LEGACY/` is reference material from the owner. Don't modify it.
|
||||
- Protocol changes go in `shared/HexapodProtocol/` only. Update the size
|
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`static_assert`, this file's contract table, and both READMEs.
|
||||
- Match the existing style: config constants at the top of `Config.h`
|
||||
|
||||
@@ -0,0 +1,32 @@
|
||||
/[Ll]ibrary/
|
||||
/[Tt]emp/
|
||||
/[Oo]bj/
|
||||
/[Bb]uild/
|
||||
/[Bb]uilds/
|
||||
/[Ll]ogs/
|
||||
/[Uu]ser[Ss]ettings/
|
||||
/[Mm]emory[Cc]aptures/
|
||||
/[Rr]ecordings/
|
||||
|
||||
# IDE state
|
||||
.vs/
|
||||
.vscode/
|
||||
.idea/
|
||||
|
||||
# Autogenerated VS/MD solution and project files
|
||||
*.csproj
|
||||
*.unityproj
|
||||
*.sln
|
||||
*.suo
|
||||
*.tmp
|
||||
*.user
|
||||
*.userprefs
|
||||
*.pidb
|
||||
*.booproj
|
||||
*.pdb
|
||||
|
||||
# Unity3D generated meta files
|
||||
*.pidb.meta
|
||||
|
||||
# Unity3D Generated File On Crash Reports
|
||||
sysinfo.txt
|
||||
@@ -0,0 +1,8 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 4231f40d01b9f79419ea7f6642ab44fc
|
||||
folderAsset: yes
|
||||
DefaultImporter:
|
||||
externalObjects: {}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
@@ -0,0 +1,20 @@
|
||||
<!-- auto-generated. do not modify by hand. -->
|
||||
<dependencies>
|
||||
<androidPackages>
|
||||
<repositories>
|
||||
<repository>https://unity3ddist.jfrog.io/artifactory/unity-mediation-mvn-prod-local/</repository>
|
||||
</repositories>
|
||||
<!-- Mediation Android SDK -->
|
||||
<androidPackage spec="com.unity3d.mediation:mediation-sdk:[1.0,2.0[" mediation-identifier="mediation-sdk" mediation-version="1.0" />
|
||||
<!-- Mediation SDK Android Adapters -->
|
||||
<androidPackage spec="com.unity3d.mediation:unityads-adapter:[1.0,2.0[" mediation-identifier="unityads-adapter" mediation-version="latest" />
|
||||
</androidPackages>
|
||||
<iosPods>
|
||||
<!-- Mediation iOS SDK -->
|
||||
<iosPod name="UnityMediationSdk" version="~> 1.0" source="'https://github.com/Unity-Technologies/unity-mediation-cocoapods-prod.git'" mediation-identifier="mediation-sdk" mediation-version="1.0" />
|
||||
<!-- Mediation Dependency Required For resolution -->
|
||||
<iosPod name="Protobuf" />
|
||||
<!-- Mediation SDK iOS Adapters -->
|
||||
<iosPod name="UnityMediationUnityAdapter" version="" source="'https://github.com/Unity-Technologies/unity-mediation-cocoapods-prod.git'" mediation-identifier="unityads-adapter" mediation-version="latest" />
|
||||
</iosPods>
|
||||
</dependencies>
|
||||
+7
@@ -0,0 +1,7 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 9cfd2c2dc7249104daf45c4ba00d4a3e
|
||||
TextScriptImporter:
|
||||
externalObjects: {}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
@@ -0,0 +1,190 @@
|
||||
using System;
|
||||
using UnityEngine;
|
||||
|
||||
public class Foot : Component
|
||||
{
|
||||
double radians(double angle)
|
||||
{
|
||||
return (Math.PI / 180) * angle;
|
||||
}
|
||||
|
||||
double degrees(double radians)
|
||||
{
|
||||
double degrees = (180 / Math.PI) * radians;
|
||||
return (degrees);
|
||||
}
|
||||
|
||||
// Inverse Kinemetics Region
|
||||
double l3, s;
|
||||
|
||||
public double l1=10; // top leg length
|
||||
public double l2=15; // bottom leg length
|
||||
static float knie_offset = 5.5f; // distancce from horziontal servo to knee servo.
|
||||
|
||||
public double X, Y, Z;
|
||||
public double rotationX=0, rotationY=0, rotationZ=0;
|
||||
public double O1, O2, O3;
|
||||
|
||||
public Vector3 transformation = new Vector3(0, 0, 0);
|
||||
public Vector3 transformation2 = new Vector3(0, 0, 0);
|
||||
|
||||
void RL3()
|
||||
{
|
||||
if ((X == 0) && (Z == 0))
|
||||
l3 = 0;
|
||||
else
|
||||
l3 = Math.Sqrt(((X * X) + (Z * Z)));
|
||||
|
||||
if (X < 0)
|
||||
l3 = l3 * -1;
|
||||
|
||||
//todo
|
||||
l3 -= knie_offset;
|
||||
}
|
||||
|
||||
double FO1()
|
||||
{
|
||||
if ((X != 0) & (Z != 0))
|
||||
{
|
||||
double a = (Z / X);
|
||||
return degrees(Math.Atan((a)));
|
||||
}
|
||||
else
|
||||
return degrees(Math.Atan(0.0)); // Math Error Protection.
|
||||
}
|
||||
|
||||
double T1()
|
||||
{
|
||||
RL3();
|
||||
|
||||
double x2 = X * X;
|
||||
double y2 = Y * Y;
|
||||
double z2 = Z * Z;
|
||||
|
||||
double t = Math.Sqrt(x2 + z2);
|
||||
t -= knie_offset;
|
||||
t = t * t;
|
||||
//todo: X,Z remove distance temp.
|
||||
s = Math.Sqrt(y2 + t);
|
||||
//s = Math.Sqrt(x2 + y2 + z2);
|
||||
|
||||
double t1 = 0;
|
||||
double s2 = s * s;
|
||||
|
||||
if ((Y == 0) && (l3 == 0))
|
||||
t1 = 0; // Math Error Protection.
|
||||
else
|
||||
t1 = degrees(Math.Atan2(l3, Y));
|
||||
|
||||
double a = (l1 * l1) - (l2 * l2) + s2;
|
||||
double b = 2 * l1 * s;
|
||||
double t2;
|
||||
if (b == 0)
|
||||
t2 = -180;// todo: figure out normal value;
|
||||
else
|
||||
t2 = degrees(Math.Acos(a / b));
|
||||
|
||||
double ret = 0;
|
||||
|
||||
//ret = t1 + Math.Abs(t2);
|
||||
ret = t1 + t2;
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
double T3()
|
||||
{
|
||||
double t = (l1 * l1) + (l2 * l2) - (s * s);
|
||||
double t2 = (2 * l1 * l2);
|
||||
double result = degrees(Math.Acos(t / t2));
|
||||
return result;
|
||||
}
|
||||
|
||||
void RotateX()
|
||||
{
|
||||
double nY = Y * Math.Cos(radians(rotationX)) - Z * Math.Sin(radians(rotationX));
|
||||
double nZ = Y * Math.Sin(radians(rotationX)) + Z * Math.Cos(radians(rotationX));
|
||||
Y = nY;
|
||||
Z = nZ;
|
||||
}
|
||||
|
||||
void RotateY()
|
||||
{
|
||||
double nZ = Z * Math.Cos(radians(rotationY)) - X * Math.Sin(radians(rotationY));
|
||||
double nX = Z * Math.Sin(radians(rotationY)) + X * Math.Cos(radians(rotationY));
|
||||
Z = nZ;
|
||||
X = nX;
|
||||
}
|
||||
|
||||
void RotateZ()
|
||||
{
|
||||
double nX = X * Math.Cos(radians(rotationZ)) - Y * Math.Sin(radians(rotationZ));
|
||||
double nY = X * Math.Sin(radians(rotationZ)) + Y * Math.Cos(radians(rotationZ));
|
||||
X = nX;
|
||||
Y = nY;
|
||||
}
|
||||
|
||||
public double translateX = 0;
|
||||
public double translateY = 0;
|
||||
public double translateZ = 0;
|
||||
|
||||
public bool invert = false;
|
||||
|
||||
public Vector3 pos = new Vector3(0, 0, 0);
|
||||
|
||||
public void setleg()
|
||||
{
|
||||
X += translateX;
|
||||
Y += translateY;
|
||||
Z += translateZ;
|
||||
|
||||
X -= transformation.x;
|
||||
Y -= transformation.y;
|
||||
Z -= transformation.z;
|
||||
|
||||
/*RotateX();
|
||||
RotateY();
|
||||
RotateZ();*/
|
||||
|
||||
// the order of these rotation transformations is important!!!
|
||||
Vector3 v = new Vector3((float)X, (float)Y, (float)Z);
|
||||
v = Quaternion.Euler((float)0, (float)rotationY, (float)0) * v;
|
||||
v = Quaternion.Euler((float)rotationX, (float)0, (float)0) * v;
|
||||
v = Quaternion.Euler((float)0, (float)0, (float)rotationZ) * v;
|
||||
X = v.x;
|
||||
Y = v.y;
|
||||
Z = v.z;
|
||||
|
||||
X -= transformation2.x;
|
||||
Y -= transformation2.y;
|
||||
Z -= transformation2.z;
|
||||
|
||||
X -= translateX;
|
||||
Y -= translateY;
|
||||
Z -= translateZ;
|
||||
|
||||
// translate to my stupid formula coordinates.
|
||||
double tx = X;
|
||||
double ty = Y;
|
||||
double tz = Z;
|
||||
X = tz * (invert ? -1 : 1);
|
||||
Y = ty * -1;
|
||||
Z = tx * -1;
|
||||
|
||||
// run IK
|
||||
// add adjustment from knie
|
||||
|
||||
O1 = (90 - FO1());
|
||||
// remove adjustment from knie
|
||||
|
||||
O2 = T1();
|
||||
O3 = 180 - T3();
|
||||
|
||||
// translate to my stupid formula coordinates.
|
||||
X = tx;
|
||||
Y = ty;
|
||||
Z = tz;
|
||||
|
||||
pos = new Vector3((float)X * (invert ? -1 : 1), (float)Y, (float)Z * (invert ? -1 : 1));
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,13 @@
|
||||
fileFormatVersion: 2
|
||||
guid: c9255406468231049ab79ec93b48f97e
|
||||
timeCreated: 1541795571
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
@@ -0,0 +1,8 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 82967c40c881be34d8d12f945dd28bac
|
||||
folderAsset: yes
|
||||
DefaultImporter:
|
||||
externalObjects: {}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
@@ -0,0 +1,18 @@
|
||||
using UnityEngine;
|
||||
|
||||
namespace HexapodSim
|
||||
{
|
||||
// Adds the firmware simulation to whatever scene is playing, so Main.unity
|
||||
// works without editing the scene. To configure it in the Inspector
|
||||
// instead, add a HexapodSimulation component to any GameObject yourself;
|
||||
// the bootstrap then does nothing.
|
||||
static class HexapodSimBootstrap
|
||||
{
|
||||
[RuntimeInitializeOnLoadMethod(RuntimeInitializeLoadType.AfterSceneLoad)]
|
||||
static void AddSimulationIfMissing()
|
||||
{
|
||||
if (Object.FindAnyObjectByType<HexapodSimulation>() != null) return;
|
||||
new GameObject("HexapodSimulation").AddComponent<HexapodSimulation>();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 0c650988c59fd78469143f99ff54f18d
|
||||
@@ -0,0 +1,232 @@
|
||||
using System;
|
||||
using System.IO;
|
||||
using System.Runtime.InteropServices;
|
||||
using UnityEngine;
|
||||
|
||||
namespace HexapodSim
|
||||
{
|
||||
// Wire format, byte-for-byte identical to shared/HexapodProtocol/HexapodProtocol.h.
|
||||
// Checked against the DLL's sizeof(CmdPacket) at load.
|
||||
[StructLayout(LayoutKind.Sequential, Pack = 2)]
|
||||
public struct CmdPacket
|
||||
{
|
||||
public short vx, vy, yaw_rate;
|
||||
public short rx, ry, rz;
|
||||
public short remote_roll, remote_pitch;
|
||||
public short body_height; // -1000 lowest .. 0 default .. 1000 highest
|
||||
public byte speed_scale, flags, seq;
|
||||
|
||||
public const byte FLAG_ARMED = 1 << 0;
|
||||
public const byte FLAG_STAND = 1 << 1;
|
||||
public const byte FLAG_WALK = 1 << 2;
|
||||
public const byte FLAG_MODE_B = 1 << 3;
|
||||
public const byte FLAG_RSTICK_XLATE = 1 << 4;
|
||||
public const byte FLAG_GAIT_WAVE = 1 << 5;
|
||||
public const byte FLAG_REMOTE_GYRO = 1 << 6;
|
||||
public const byte FLAG_ROBOT_GYRO = 1 << 7;
|
||||
}
|
||||
|
||||
// Mirrors HxGeometry in sim/HexapodSimApi.h.
|
||||
[StructLayout(LayoutKind.Sequential)]
|
||||
public struct HxGeometry
|
||||
{
|
||||
public int numLegs;
|
||||
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] public float[] mountXmm;
|
||||
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] public float[] mountYmm;
|
||||
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] public float[] mountAngleDeg;
|
||||
public float coxaMm, femurMm, tibiaMm;
|
||||
public float stanceRadiusMm, stanceHeightMm;
|
||||
public float coxaMinDeg, coxaMaxDeg, femurMinDeg, femurMaxDeg, tibiaMinDeg, tibiaMaxDeg;
|
||||
public float controlHz;
|
||||
public int servoUsAt0Deg, servoUsPerDeg;
|
||||
public float legClearanceMm;
|
||||
public float stanceHeightRangeMm;
|
||||
}
|
||||
|
||||
// Mirrors HxStatus in sim/HexapodSimApi.h.
|
||||
[StructLayout(LayoutKind.Sequential)]
|
||||
public struct HxStatus
|
||||
{
|
||||
public int robotState; // 0 DISARMED, 1 SIT, 2 STAND, 3 WALKING
|
||||
public float sitStandBlend;
|
||||
public int linkOk;
|
||||
public float headingDeg;
|
||||
public float imuRollDeg, imuPitchDeg;
|
||||
public int imuEnabled;
|
||||
public uint simTimeMs;
|
||||
public uint controlTicks;
|
||||
public int stanceMask;
|
||||
public float poseReachScale; // 1 = full commanded pose; less = scaled to what the legs can reach
|
||||
public float twistScale; // 1 = walk command as sent; less = slowed to a stride the legs can take
|
||||
public float stanceHeightMm; // current standing height (feet below hips)
|
||||
|
||||
public string StateName => robotState switch
|
||||
{
|
||||
0 => "DISARMED", 1 => "SIT", 2 => "STAND", 3 => "WALKING", _ => "?"
|
||||
};
|
||||
}
|
||||
|
||||
// Loads sim/build/hexapod_sim.dll - the unchanged robot firmware compiled for
|
||||
// the PC. The DLL is copied to a temp file and loaded by hand (not DllImport)
|
||||
// so Unity never locks the build output: rebuild with CMake, press Play or
|
||||
// "Reload firmware" and the new code runs. Each load is a fresh power-on.
|
||||
public sealed class HexapodSimNative : IDisposable
|
||||
{
|
||||
public const int ExpectedApiVersion = 5; // HXSIM_API_VERSION
|
||||
|
||||
[UnmanagedFunctionPointer(CallingConvention.Cdecl)] delegate int IntFn();
|
||||
[UnmanagedFunctionPointer(CallingConvention.Cdecl)] delegate void VoidFn();
|
||||
[UnmanagedFunctionPointer(CallingConvention.Cdecl)] delegate void IntArgFn(int v);
|
||||
[UnmanagedFunctionPointer(CallingConvention.Cdecl)] delegate void UIntArgFn(uint v);
|
||||
[UnmanagedFunctionPointer(CallingConvention.Cdecl)] delegate void GeometryFn(out HxGeometry g);
|
||||
[UnmanagedFunctionPointer(CallingConvention.Cdecl)] delegate void StatusFn(out HxStatus s);
|
||||
[UnmanagedFunctionPointer(CallingConvention.Cdecl)] delegate void PacketFn(ref CmdPacket p, int len);
|
||||
[UnmanagedFunctionPointer(CallingConvention.Cdecl)] delegate void ImuFn(float ax, float ay, float az, float gx, float gy, float gz);
|
||||
[UnmanagedFunctionPointer(CallingConvention.Cdecl)] delegate void BytesInFn(byte[] bytes, int len);
|
||||
[UnmanagedFunctionPointer(CallingConvention.Cdecl)] delegate int BytesOutFn(byte[] bytes, int cap);
|
||||
[UnmanagedFunctionPointer(CallingConvention.Cdecl)] delegate void ServosFn(int[] us, int[] attached, uint[] writes);
|
||||
[UnmanagedFunctionPointer(CallingConvention.Cdecl)] delegate void FloatsFn(float[] values);
|
||||
[UnmanagedFunctionPointer(CallingConvention.Cdecl)] delegate void TwoFloatsFn(float a, float b);
|
||||
[UnmanagedFunctionPointer(CallingConvention.Cdecl)] delegate void BodyFn(float[] pos3, float[] quatWxyz4, out float yawDeg, out int contactMask);
|
||||
|
||||
IntPtr handle_;
|
||||
string tempCopy_;
|
||||
|
||||
IntFn apiVersion_, packetSize_;
|
||||
GeometryFn getGeometry_;
|
||||
IntArgFn setRadioPresent_, setImuPresent_;
|
||||
VoidFn start_;
|
||||
UIntArgFn step_;
|
||||
PacketFn radioSend_;
|
||||
ImuFn setImu_;
|
||||
BytesInFn serialInput_;
|
||||
BytesOutFn serialOutput_;
|
||||
ServosFn getServos_;
|
||||
FloatsFn getJoints_, getFeet_;
|
||||
StatusFn getStatus_;
|
||||
TwoFloatsFn setGroundTilt_;
|
||||
BodyFn getBody_;
|
||||
|
||||
public string LoadedFrom { get; private set; }
|
||||
|
||||
public static HexapodSimNative Load(string dllPath)
|
||||
{
|
||||
if (!File.Exists(dllPath))
|
||||
throw new FileNotFoundException(
|
||||
"Simulation DLL not found. Build it first: run .\\sim\\build.ps1 from the repo root in PowerShell.",
|
||||
dllPath);
|
||||
|
||||
var n = new HexapodSimNative();
|
||||
n.tempCopy_ = Path.Combine(Path.GetTempPath(), $"hexapod_sim_{Guid.NewGuid():N}.dll");
|
||||
File.Copy(dllPath, n.tempCopy_, true);
|
||||
n.handle_ = LoadLibraryW(n.tempCopy_);
|
||||
if (n.handle_ == IntPtr.Zero)
|
||||
{
|
||||
int err = Marshal.GetLastWin32Error();
|
||||
n.Dispose();
|
||||
throw new Exception($"LoadLibrary failed for {dllPath} (Win32 error {err}). Is it a 64-bit build?");
|
||||
}
|
||||
n.LoadedFrom = dllPath;
|
||||
|
||||
n.apiVersion_ = n.Fn<IntFn>("hxsim_api_version");
|
||||
n.packetSize_ = n.Fn<IntFn>("hxsim_packet_size");
|
||||
n.getGeometry_ = n.Fn<GeometryFn>("hxsim_get_geometry");
|
||||
n.setRadioPresent_ = n.Fn<IntArgFn>("hxsim_set_radio_present");
|
||||
n.setImuPresent_ = n.Fn<IntArgFn>("hxsim_set_imu_present");
|
||||
n.start_ = n.Fn<VoidFn>("hxsim_start");
|
||||
n.step_ = n.Fn<UIntArgFn>("hxsim_step");
|
||||
n.radioSend_ = n.Fn<PacketFn>("hxsim_radio_send");
|
||||
n.setImu_ = n.Fn<ImuFn>("hxsim_set_imu");
|
||||
n.serialInput_ = n.Fn<BytesInFn>("hxsim_serial_input");
|
||||
n.serialOutput_ = n.Fn<BytesOutFn>("hxsim_serial_output");
|
||||
n.getServos_ = n.Fn<ServosFn>("hxsim_get_servos");
|
||||
n.getJoints_ = n.Fn<FloatsFn>("hxsim_get_joints_deg");
|
||||
n.getFeet_ = n.Fn<FloatsFn>("hxsim_get_feet_mm");
|
||||
n.getStatus_ = n.Fn<StatusFn>("hxsim_get_status");
|
||||
n.setGroundTilt_ = n.Fn<TwoFloatsFn>("hxsim_set_ground_tilt");
|
||||
n.getBody_ = n.Fn<BodyFn>("hxsim_get_body");
|
||||
|
||||
int version = n.apiVersion_();
|
||||
if (version != ExpectedApiVersion)
|
||||
{
|
||||
n.Dispose();
|
||||
throw new Exception($"hexapod_sim.dll API version {version}, Unity scripts expect {ExpectedApiVersion}. Rebuild the DLL or update the scripts.");
|
||||
}
|
||||
int size = n.packetSize_();
|
||||
if (size != Marshal.SizeOf<CmdPacket>())
|
||||
{
|
||||
n.Dispose();
|
||||
throw new Exception($"CmdPacket is {size} bytes in the firmware but {Marshal.SizeOf<CmdPacket>()} in C#. Update HexapodSimNative.CmdPacket to match HexapodProtocol.h.");
|
||||
}
|
||||
return n;
|
||||
}
|
||||
|
||||
T Fn<T>(string name) where T : Delegate
|
||||
{
|
||||
IntPtr p = GetProcAddress(handle_, name);
|
||||
if (p == IntPtr.Zero) throw new Exception($"hexapod_sim.dll is missing export '{name}' - rebuild it.");
|
||||
return Marshal.GetDelegateForFunctionPointer<T>(p);
|
||||
}
|
||||
|
||||
public int PacketSize => packetSize_();
|
||||
public HxGeometry Geometry { get { getGeometry_(out var g); return g; } }
|
||||
public HxStatus Status { get { getStatus_(out var s); return s; } }
|
||||
|
||||
public void SetRadioPresent(bool present) => setRadioPresent_(present ? 1 : 0);
|
||||
public void SetImuPresent(bool present) => setImuPresent_(present ? 1 : 0);
|
||||
public void Start() => start_();
|
||||
public void Step(uint dtMicros) => step_(dtMicros);
|
||||
public void RadioSend(CmdPacket p) => radioSend_(ref p, Marshal.SizeOf<CmdPacket>());
|
||||
// Overrides the body-driven IMU with fixed readings from then on (normally unused).
|
||||
public void SetImu(Vector3 accelG, Vector3 gyroDps) =>
|
||||
setImu_(accelG.x, accelG.y, accelG.z, gyroDps.x, gyroDps.y, gyroDps.z);
|
||||
|
||||
public void SerialInput(string text)
|
||||
{
|
||||
if (string.IsNullOrEmpty(text)) return;
|
||||
byte[] b = System.Text.Encoding.ASCII.GetBytes(text);
|
||||
serialInput_(b, b.Length);
|
||||
}
|
||||
|
||||
readonly byte[] serialBuf_ = new byte[4096];
|
||||
public string SerialOutput()
|
||||
{
|
||||
int n = serialOutput_(serialBuf_, serialBuf_.Length);
|
||||
return n > 0 ? System.Text.Encoding.ASCII.GetString(serialBuf_, 0, n) : "";
|
||||
}
|
||||
|
||||
public void GetServos(int[] us, int[] attached, uint[] writes) => getServos_(us, attached, writes);
|
||||
public void GetJointsDeg(float[] deg18) => getJoints_(deg18);
|
||||
public void GetFeetMm(float[] xyz18) => getFeet_(xyz18);
|
||||
|
||||
public void SetGroundTilt(float rollDeg, float pitchDeg) => setGroundTilt_(rollDeg, pitchDeg);
|
||||
|
||||
readonly float[] bodyPos_ = new float[3], bodyQuat_ = new float[4];
|
||||
// Kinematic body from the DLL, robot-world frame. The rotation is a
|
||||
// robot-frame quaternion held in a Unity Quaternion for its math only.
|
||||
public void GetBody(out Vector3 posMm, out Quaternion rotRobot, out float yawDeg, out int contactMask)
|
||||
{
|
||||
getBody_(bodyPos_, bodyQuat_, out yawDeg, out contactMask);
|
||||
posMm = new Vector3(bodyPos_[0], bodyPos_[1], bodyPos_[2]);
|
||||
rotRobot = new Quaternion(bodyQuat_[1], bodyQuat_[2], bodyQuat_[3], bodyQuat_[0]);
|
||||
}
|
||||
|
||||
public void Dispose()
|
||||
{
|
||||
if (handle_ != IntPtr.Zero) { FreeLibrary(handle_); handle_ = IntPtr.Zero; }
|
||||
if (tempCopy_ != null)
|
||||
{
|
||||
try { File.Delete(tempCopy_); } catch { /* still mapped on some systems; temp dir cleans up */ }
|
||||
tempCopy_ = null;
|
||||
}
|
||||
}
|
||||
|
||||
[DllImport("kernel32", SetLastError = true, CharSet = CharSet.Unicode)]
|
||||
static extern IntPtr LoadLibraryW(string path);
|
||||
[DllImport("kernel32", SetLastError = true)]
|
||||
[return: MarshalAs(UnmanagedType.Bool)]
|
||||
static extern bool FreeLibrary(IntPtr handle);
|
||||
[DllImport("kernel32", SetLastError = true, CharSet = CharSet.Ansi, ExactSpelling = true)]
|
||||
static extern IntPtr GetProcAddress(IntPtr handle, string name);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 5fd045740d26ccf4f98e1153df25add4
|
||||
@@ -0,0 +1,326 @@
|
||||
using System.Collections.Generic;
|
||||
using System.IO;
|
||||
using System.Text;
|
||||
using UnityEngine;
|
||||
|
||||
namespace HexapodSim
|
||||
{
|
||||
// Runs the real robot firmware (robot/, compiled into sim/build/hexapod_sim.dll)
|
||||
// against the existing Unity model:
|
||||
// input (SimRemote) -> CmdPacket over the simulated radio -> firmware loop()
|
||||
// -> 18 servo pulses -> joint rotations on the rig.
|
||||
// The body's motion (kinematic: it rests on its feet, grounded feet don't
|
||||
// slide) and the simulated MPU6050 readings are computed inside the DLL
|
||||
// (sim/SimBody.cpp), so the headless smoke test checks the same thing this
|
||||
// shows. Nothing here decides how the robot moves.
|
||||
[DefaultExecutionOrder(-100)]
|
||||
public class HexapodSimulation : MonoBehaviour
|
||||
{
|
||||
[Header("Firmware")]
|
||||
[Tooltip("Empty = <repo>/sim/build/hexapod_sim.dll")]
|
||||
public string dllPath = "";
|
||||
public bool radioPresent = true;
|
||||
public bool imuPresent = true;
|
||||
[Tooltip("Remote transmit rate. The real remote sends at 100 Hz.")]
|
||||
public float remoteTxHz = 100f;
|
||||
|
||||
[Header("Rig (auto-detected from the scene if empty)")]
|
||||
public Transform chassis;
|
||||
public Transform ground;
|
||||
public ForwardAxis forwardAxis = ForwardAxis.NegativeX;
|
||||
[Tooltip("Unity units per millimetre. The model is built in cm.")]
|
||||
public float unitsPerMm = 0.1f;
|
||||
[Tooltip("Firmware tibia angle when the rig's Knie rotation is 0 (tibia straight down from a horizontal femur).")]
|
||||
public float kneeRestDeg = -90f;
|
||||
|
||||
[Header("World")]
|
||||
[Tooltip("Tilts the ground (deg about robot X = roll, Y = pitch) to exercise the robot gyro.")]
|
||||
public Vector2 groundTiltDeg;
|
||||
public bool followCamera = true;
|
||||
|
||||
// ---- Runtime state, read by SimTestPanel ----
|
||||
public HexapodSimNative Native { get; private set; }
|
||||
public HxGeometry Geometry { get; private set; }
|
||||
public HxStatus Status { get; private set; }
|
||||
public string LoadError { get; private set; }
|
||||
public readonly List<string> SerialLog = new List<string>();
|
||||
public readonly List<string> RigWarnings = new List<string>();
|
||||
public float[] JointsDeg { get; } = new float[18];
|
||||
public float[] FeetMm { get; } = new float[18];
|
||||
public bool[] Contact { get; } = new bool[6];
|
||||
public int[] ServoUs { get; } = new int[18];
|
||||
public int[] ServoAttached { get; } = new int[18];
|
||||
public uint[] ServoWrites { get; } = new uint[18];
|
||||
public Vector3 BodyPosMm => bodyPos_;
|
||||
public float BodyYawDeg => yaw_;
|
||||
|
||||
SimRemote remote_;
|
||||
|
||||
class LegRig
|
||||
{
|
||||
public Transform root, hip1, hip2, knie, footMarker;
|
||||
public float coxaOffsetDeg;
|
||||
}
|
||||
readonly LegRig[] legs_ = new LegRig[6];
|
||||
|
||||
// Body pose from the DLL, robot-world frame (mm, Z up, ground z = 0 before tilt).
|
||||
float yaw_;
|
||||
Vector3 bodyPos_;
|
||||
Quaternion bodyRot_ = Quaternion.identity; // robot-frame rotation used as a math object
|
||||
|
||||
// Unity-side anchors captured at start.
|
||||
Vector3 originUnity_;
|
||||
Quaternion chassisRestRot_;
|
||||
Vector3 groundRestPos_;
|
||||
Quaternion groundRestRot_;
|
||||
Transform camera_;
|
||||
Vector3 cameraOffset_;
|
||||
StringBuilder serialLine_ = new StringBuilder();
|
||||
|
||||
static readonly string[] LegacyMovementScripts =
|
||||
{ "Walk", "RotationControl", "Leg", "HandleHoystick", "Serial2", "Serial3" };
|
||||
|
||||
// Robot-frame axes, for readability (Unity's Vector3.up etc. are Unity axes).
|
||||
static readonly Vector3 AxisX = new Vector3(1, 0, 0); // forward
|
||||
static readonly Vector3 AxisY = new Vector3(0, 1, 0); // left
|
||||
|
||||
void Awake()
|
||||
{
|
||||
DisableLegacyScripts();
|
||||
remote_ = GetComponent<SimRemote>();
|
||||
if (remote_ == null) remote_ = gameObject.AddComponent<SimRemote>();
|
||||
if (GetComponent<SimTestPanel>() == null) gameObject.AddComponent<SimTestPanel>();
|
||||
|
||||
if (chassis == null) chassis = FindChassis();
|
||||
if (ground == null) { var g = GameObject.Find("Plane"); if (g) ground = g.transform; }
|
||||
if (chassis == null) { LoadError = "No leg rig found (expected 6 objects named 'Leg' with hip1/Hip2/Knie)."; return; }
|
||||
|
||||
chassisRestRot_ = chassis.rotation;
|
||||
float groundY = ground ? ground.position.y : chassis.position.y - 150f * unitsPerMm;
|
||||
originUnity_ = new Vector3(chassis.position.x, groundY, chassis.position.z);
|
||||
if (ground) { groundRestPos_ = ground.position; groundRestRot_ = ground.rotation; }
|
||||
if (Camera.main) { camera_ = Camera.main.transform; cameraOffset_ = camera_.position - chassis.position; }
|
||||
|
||||
ReloadFirmware();
|
||||
}
|
||||
|
||||
void OnDestroy() => Native?.Dispose();
|
||||
|
||||
public string ResolvedDllPath =>
|
||||
!string.IsNullOrEmpty(dllPath)
|
||||
? dllPath
|
||||
: Path.GetFullPath(Path.Combine(Application.dataPath, "..", "..", "sim", "build", "hexapod_sim.dll"));
|
||||
|
||||
// Fresh power-on: loads the current DLL build and resets the body.
|
||||
public void ReloadFirmware()
|
||||
{
|
||||
Native?.Dispose();
|
||||
Native = null;
|
||||
LoadError = null;
|
||||
try
|
||||
{
|
||||
Native = HexapodSimNative.Load(ResolvedDllPath);
|
||||
Native.SetRadioPresent(radioPresent);
|
||||
Native.SetImuPresent(imuPresent);
|
||||
Geometry = Native.Geometry;
|
||||
BindRig();
|
||||
Native.SetGroundTilt(groundTiltDeg.x, groundTiltDeg.y);
|
||||
Native.Start();
|
||||
remote_.ResetState();
|
||||
SerialLog.Add($"--- firmware loaded: {ResolvedDllPath}");
|
||||
}
|
||||
catch (System.Exception e)
|
||||
{
|
||||
LoadError = e.Message;
|
||||
Debug.LogError("[HexapodSim] " + e.Message);
|
||||
Native?.Dispose();
|
||||
Native = null;
|
||||
}
|
||||
}
|
||||
|
||||
void FixedUpdate()
|
||||
{
|
||||
if (Native == null) return;
|
||||
float dt = Time.fixedDeltaTime;
|
||||
|
||||
Native.SetGroundTilt(groundTiltDeg.x, groundTiltDeg.y);
|
||||
|
||||
// Remote packets at the remote's rate, firmware time advanced in step.
|
||||
int sub = Mathf.Max(1, Mathf.RoundToInt(dt * remoteTxHz));
|
||||
float subDt = dt / sub;
|
||||
for (int n = 0; n < sub; n++)
|
||||
{
|
||||
remote_.Transmit(Native, subDt);
|
||||
Native.Step((uint)Mathf.RoundToInt(subDt * 1e6f));
|
||||
}
|
||||
|
||||
Status = Native.Status;
|
||||
Native.GetJointsDeg(JointsDeg);
|
||||
Native.GetFeetMm(FeetMm);
|
||||
Native.GetServos(ServoUs, ServoAttached, ServoWrites);
|
||||
Native.GetBody(out bodyPos_, out bodyRot_, out yaw_, out int contactMask);
|
||||
for (int i = 0; i < 6; i++) Contact[i] = (contactMask >> i & 1) != 0;
|
||||
DrainSerial();
|
||||
|
||||
ApplyBodyPose();
|
||||
ApplyJoints();
|
||||
}
|
||||
|
||||
void LateUpdate()
|
||||
{
|
||||
if (followCamera && camera_ && chassis) camera_.position = chassis.position + cameraOffset_;
|
||||
}
|
||||
|
||||
// ------------------------------------------------------------------
|
||||
// Rig
|
||||
// ------------------------------------------------------------------
|
||||
|
||||
void DisableLegacyScripts()
|
||||
{
|
||||
foreach (var mb in FindObjectsByType<MonoBehaviour>(FindObjectsInactive.Include))
|
||||
if (System.Array.IndexOf(LegacyMovementScripts, mb.GetType().Name) >= 0)
|
||||
mb.enabled = false;
|
||||
}
|
||||
|
||||
static List<Transform> FindLegRoots()
|
||||
{
|
||||
var result = new List<Transform>();
|
||||
foreach (var t in FindObjectsByType<Transform>())
|
||||
if (t.name == "Leg" && FindDeep(t, "hip1") != null) result.Add(t);
|
||||
return result;
|
||||
}
|
||||
|
||||
static Transform FindChassis()
|
||||
{
|
||||
var roots = FindLegRoots();
|
||||
return roots.Count > 0 ? roots[0].parent : null;
|
||||
}
|
||||
|
||||
static Transform FindDeep(Transform parent, string name)
|
||||
{
|
||||
foreach (Transform c in parent)
|
||||
{
|
||||
if (string.Equals(c.name, name, System.StringComparison.OrdinalIgnoreCase)) return c;
|
||||
var d = FindDeep(c, name);
|
||||
if (d) return d;
|
||||
}
|
||||
return null;
|
||||
}
|
||||
|
||||
// Matches each firmware leg (Config.h order) to the rig leg at its mount
|
||||
// position, and checks the rig against Config.h so a mismatch is loud.
|
||||
void BindRig()
|
||||
{
|
||||
RigWarnings.Clear();
|
||||
var roots = FindLegRoots();
|
||||
var g = Geometry;
|
||||
for (int i = 0; i < 6; i++)
|
||||
{
|
||||
Vector3 mountLocal = RobotFrame.ToUnity(new Vector3(g.mountXmm[i], g.mountYmm[i], 0), forwardAxis) * unitsPerMm;
|
||||
Transform best = null;
|
||||
float bestDist = float.MaxValue;
|
||||
foreach (var r in roots)
|
||||
{
|
||||
float dist = Vector3.Distance(chassis.InverseTransformPoint(r.position), mountLocal);
|
||||
if (dist < bestDist) { bestDist = dist; best = r; }
|
||||
}
|
||||
if (best == null) { legs_[i] = null; continue; }
|
||||
roots.Remove(best);
|
||||
|
||||
var leg = new LegRig
|
||||
{
|
||||
root = best,
|
||||
hip1 = FindDeep(best, "hip1"),
|
||||
hip2 = FindDeep(best, "Hip2"),
|
||||
knie = FindDeep(best, "Knie"),
|
||||
footMarker = FindDeep(best, "Point"),
|
||||
};
|
||||
if (bestDist / unitsPerMm > 5f)
|
||||
RigWarnings.Add($"leg {i}: rig hip is {bestDist / unitsPerMm:F0} mm from Config.h mount ({g.mountXmm[i]}, {g.mountYmm[i]})");
|
||||
|
||||
// Direction the rig's coxa points at rotation 0, in robot-frame degrees.
|
||||
Vector3 outward = RobotFrame.ToRobot(chassis.InverseTransformDirection(best.forward), forwardAxis);
|
||||
float rigMountDeg = Mathf.Atan2(outward.y, outward.x) * Mathf.Rad2Deg;
|
||||
leg.coxaOffsetDeg = RobotFrame.WrapDeg(g.mountAngleDeg[i] - rigMountDeg);
|
||||
if (Mathf.Abs(leg.coxaOffsetDeg) > 1f)
|
||||
RigWarnings.Add($"leg {i}: Config mount angle {g.mountAngleDeg[i]:F0} vs rig {rigMountDeg:F0} deg (compensated)");
|
||||
|
||||
if (leg.hip1 && leg.hip2 && leg.knie)
|
||||
{
|
||||
float rigCoxa = Vector3.Distance(leg.hip1.position, leg.hip2.position) / unitsPerMm;
|
||||
float rigFemur = Vector3.Distance(leg.hip2.position, leg.knie.position) / unitsPerMm;
|
||||
if (Mathf.Abs(rigCoxa - g.coxaMm) > 2f || Mathf.Abs(rigFemur - g.femurMm) > 2f)
|
||||
RigWarnings.Add($"leg {i}: rig coxa/femur {rigCoxa:F0}/{rigFemur:F0} mm vs Config {g.coxaMm:F0}/{g.femurMm:F0} mm");
|
||||
}
|
||||
else RigWarnings.Add($"leg {i}: missing hip1/Hip2/Knie under '{best.name}'");
|
||||
legs_[i] = leg;
|
||||
}
|
||||
foreach (var w in RigWarnings) Debug.LogWarning("[HexapodSim] " + w);
|
||||
}
|
||||
|
||||
// Firmware joint convention -> rig rotations (see sim/HexapodSimApi.cpp FK):
|
||||
// coxa + = CCW from above; Unity +Y rotation is clockwise from above.
|
||||
// femur/tibia + = up; Unity +X rotation tips the leg's +Z down.
|
||||
void ApplyJoints()
|
||||
{
|
||||
for (int i = 0; i < 6; i++)
|
||||
{
|
||||
var leg = legs_[i];
|
||||
if (leg == null || leg.hip1 == null) continue;
|
||||
float coxa = JointsDeg[i * 3], femur = JointsDeg[i * 3 + 1], tibia = JointsDeg[i * 3 + 2];
|
||||
leg.hip1.localRotation = Quaternion.Euler(0, -(coxa + leg.coxaOffsetDeg), 0);
|
||||
if (leg.hip2) leg.hip2.localRotation = Quaternion.Euler(-femur, 0, 0);
|
||||
if (leg.knie) leg.knie.localRotation = Quaternion.Euler(-(tibia - kneeRestDeg), 0, 0);
|
||||
|
||||
// The sphere marks where the firmware-side FK puts the foot. If it
|
||||
// doesn't sit on the tibia tip, the rig and Config.h disagree.
|
||||
if (leg.footMarker)
|
||||
leg.footMarker.position = chassis.TransformPoint(FootLocal(i));
|
||||
}
|
||||
}
|
||||
|
||||
Vector3 FootLocal(int i) =>
|
||||
RobotFrame.ToUnity(new Vector3(FeetMm[i * 3], FeetMm[i * 3 + 1], FeetMm[i * 3 + 2]), forwardAxis) * unitsPerMm;
|
||||
|
||||
// ------------------------------------------------------------------
|
||||
// World
|
||||
// ------------------------------------------------------------------
|
||||
|
||||
// Robot frame: X forward, Y left (Unity's Vector3.right/up are Unity axes).
|
||||
Quaternion GroundRotation() =>
|
||||
Quaternion.AngleAxis(groundTiltDeg.x, AxisX) * Quaternion.AngleAxis(groundTiltDeg.y, AxisY);
|
||||
|
||||
// The robot-world frame is the chassis's starting orientation, so the
|
||||
// rig's local axes (which the Config.h mapping is defined against) and
|
||||
// the world stay consistent even if the chassis starts rotated.
|
||||
void ApplyBodyPose()
|
||||
{
|
||||
if (!chassis) return;
|
||||
chassis.position = originUnity_ + chassisRestRot_ * RobotFrame.ToUnity(bodyPos_, forwardAxis) * unitsPerMm;
|
||||
chassis.rotation = chassisRestRot_ * RobotFrame.ToUnity(bodyRot_, forwardAxis);
|
||||
if (ground)
|
||||
{
|
||||
Quaternion g = chassisRestRot_ * RobotFrame.ToUnity(GroundRotation(), forwardAxis) * Quaternion.Inverse(chassisRestRot_);
|
||||
ground.rotation = g * groundRestRot_;
|
||||
ground.position = originUnity_ + g * (groundRestPos_ - originUnity_);
|
||||
}
|
||||
}
|
||||
|
||||
void DrainSerial()
|
||||
{
|
||||
string s = Native.SerialOutput();
|
||||
foreach (char ch in s)
|
||||
{
|
||||
if (ch == '\n')
|
||||
{
|
||||
string line = serialLine_.ToString().TrimEnd('\r');
|
||||
serialLine_.Clear();
|
||||
SerialLog.Add(line);
|
||||
Debug.Log("[robot] " + line);
|
||||
}
|
||||
else serialLine_.Append(ch);
|
||||
}
|
||||
if (SerialLog.Count > 200) SerialLog.RemoveRange(0, SerialLog.Count - 200);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 5e27b78fcb1d2624d9e437ac5c6f8853
|
||||
@@ -0,0 +1,38 @@
|
||||
using UnityEngine;
|
||||
|
||||
namespace HexapodSim
|
||||
{
|
||||
// Which Unity axis the robot's forward (+X) maps to. The old scene marks
|
||||
// the legs on Unity -Z as "invertForLeftLeg", which makes -X forward.
|
||||
public enum ForwardAxis { NegativeX, PositiveX }
|
||||
|
||||
// Conversions between the firmware's body frame (right-handed, mm:
|
||||
// +X forward, +Y left, +Z up) and Unity (left-handed, Y up). Everything
|
||||
// physical in the simulation is computed in the robot frame and only
|
||||
// converted here, in one place.
|
||||
public static class RobotFrame
|
||||
{
|
||||
public static Vector3 ToUnity(Vector3 r, ForwardAxis f) =>
|
||||
f == ForwardAxis.NegativeX ? new Vector3(-r.x, r.z, -r.y) : new Vector3(r.x, r.z, r.y);
|
||||
|
||||
public static Vector3 ToRobot(Vector3 u, ForwardAxis f) =>
|
||||
f == ForwardAxis.NegativeX ? new Vector3(-u.x, -u.z, u.y) : new Vector3(u.x, u.z, u.y);
|
||||
|
||||
// A rotation expressed in the robot frame, as the equivalent Unity rotation.
|
||||
// (The mapping is a reflection, so this is M * R * M^-1, built from two axes.)
|
||||
public static Quaternion ToUnity(Quaternion robotRot, ForwardAxis f)
|
||||
{
|
||||
Vector3 fwd = ToUnity(robotRot * ToRobot(Vector3.forward, f), f);
|
||||
Vector3 up = ToUnity(robotRot * ToRobot(Vector3.up, f), f);
|
||||
return Quaternion.LookRotation(fwd, up);
|
||||
}
|
||||
|
||||
public static float WrapDeg(float d)
|
||||
{
|
||||
d %= 360f;
|
||||
if (d > 180f) d -= 360f;
|
||||
if (d < -180f) d += 360f;
|
||||
return d;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 1ce33c911afdf8f4a90bcdfe72c26093
|
||||
@@ -0,0 +1,255 @@
|
||||
using System;
|
||||
using UnityEngine;
|
||||
|
||||
namespace HexapodSim
|
||||
{
|
||||
// Stand-in for the handheld remote. Produces CmdPackets exactly per the
|
||||
// protocol contract and sends them over the simulated radio. Toggles and
|
||||
// interlocks mirror remote/RemoteState.cpp and remote/PacketBuilder.cpp -
|
||||
// keep them in sync if those change.
|
||||
//
|
||||
// Input sources:
|
||||
// Joystick - the real remote as a USB game controller, read through
|
||||
// Unity input axes "1".."6" like the old HandleHoystick.
|
||||
// Keyboard - test without any remote (keys listed in SimTestPanel).
|
||||
// RobotSerialHarness - no radio at all; typed keys go to the firmware's own
|
||||
// TEST_SERIAL_INPUT harness, like the Arduino Serial Monitor.
|
||||
// Toggles, the speed slider and the handset tilt sliders live in SimTestPanel.
|
||||
public class SimRemote : MonoBehaviour
|
||||
{
|
||||
public enum InputSource { Joystick, Keyboard, RobotSerialHarness }
|
||||
|
||||
[Serializable]
|
||||
public class AxisBinding
|
||||
{
|
||||
public string axis;
|
||||
public bool invert;
|
||||
public AxisBinding(string axis, bool invert) { this.axis = axis; this.invert = invert; }
|
||||
}
|
||||
|
||||
public InputSource source = InputSource.Keyboard;
|
||||
|
||||
// Defaults follow the old HandleHoystick: axes 4/6/5 were the walk stick
|
||||
// (b2/b1/b3), 2/1/3 the rotation stick (a1/a2/a3), with 1 and 2 inverted.
|
||||
// Which of 4/6 is forward vs sideways wasn't recoverable from the old code:
|
||||
// check the raw axis readout in the test panel and fix here.
|
||||
[Header("Joystick axes (Input Manager names)")]
|
||||
[Tooltip("Stick convention after invert: X + = right, Y + = forward, twist + = counterclockwise.")]
|
||||
public AxisBinding leftX = new AxisBinding("4", false);
|
||||
public AxisBinding leftY = new AxisBinding("6", false);
|
||||
public AxisBinding leftTwist = new AxisBinding("5", false);
|
||||
public AxisBinding rightX = new AxisBinding("2", true);
|
||||
public AxisBinding rightY = new AxisBinding("1", true);
|
||||
public AxisBinding rightTwist = new AxisBinding("3", false);
|
||||
[Range(0, 0.5f)] public float deadzone = 0.08f;
|
||||
|
||||
[Header("Operator state (same toggles as the Nextion screen)")]
|
||||
public bool armed;
|
||||
public bool stand;
|
||||
public bool gaitWave;
|
||||
public bool modeB;
|
||||
public bool rstickXlate;
|
||||
public bool remoteGyro;
|
||||
public bool robotGyro;
|
||||
[Range(0, 255)] public int speedTarget = 128;
|
||||
[Tooltip("Standing height setting, -1000 lowest .. 0 default .. 1000 highest (CmdPacket.body_height).")]
|
||||
[Range(-1000, 1000)] public int height = 0;
|
||||
|
||||
[Header("Simulated handset tilt (the remote's MPU6050)")]
|
||||
[Range(-30, 30)] public float handsetRollDeg;
|
||||
[Range(-30, 30)] public float handsetPitchDeg;
|
||||
public float handsetFullScaleDeg = 30f; // remote Config.h REMOTE_TILT_FULL_SCALE_DEG
|
||||
|
||||
[Header("Smoothing, as on the remote")]
|
||||
public float speedRatePerSec = 255f; // SPEED_SCALE_RATE_PER_SEC
|
||||
public float walkLingerSec = 0.25f; // WALK_LINGER_MS
|
||||
public float armCenterTolerance = 0.05f; // ARM_CENTER_TOLERANCE / 1000
|
||||
public float keyStickRatePerSec = 4f; // how fast a held key moves the virtual stick
|
||||
|
||||
// Latest processed sticks, -1..1: [L_X, L_Y, L_TWIST, R_X, R_Y, R_TWIST].
|
||||
public readonly float[] sticks = new float[6];
|
||||
public readonly float[] rawAxes = new float[6]; // Input axes "1".."6" as read
|
||||
public CmdPacket LastPacket { get; private set; }
|
||||
public string Message { get; private set; } = "";
|
||||
public bool JoystickAxesMissing { get; private set; }
|
||||
|
||||
float speedCurrent_ = 128;
|
||||
float lastWalkInputTime_ = -999f;
|
||||
byte seq_;
|
||||
string serialKeys_ = "";
|
||||
float messageUntil_;
|
||||
|
||||
public void ResetState()
|
||||
{
|
||||
armed = stand = false;
|
||||
speedCurrent_ = speedTarget;
|
||||
lastWalkInputTime_ = -999f;
|
||||
serialKeys_ = "";
|
||||
}
|
||||
|
||||
void Awake()
|
||||
{
|
||||
if (Input.GetJoystickNames().Length > 0 && !string.IsNullOrEmpty(Input.GetJoystickNames()[0]))
|
||||
source = InputSource.Joystick;
|
||||
}
|
||||
|
||||
void Update()
|
||||
{
|
||||
for (int i = 0; i < 6; i++) rawAxes[i] = ReadAxis((i + 1).ToString());
|
||||
|
||||
if (source == InputSource.RobotSerialHarness)
|
||||
{
|
||||
serialKeys_ += Input.inputString; // raw keystrokes for the firmware's harness
|
||||
return;
|
||||
}
|
||||
|
||||
HandleToggleKeys();
|
||||
if (source == InputSource.Joystick) ReadJoystick();
|
||||
else ReadKeyboardSticks(Time.deltaTime);
|
||||
if (Time.time > messageUntil_) Message = "";
|
||||
}
|
||||
|
||||
// ---- Operator commands (also called by SimTestPanel buttons) ----
|
||||
|
||||
public void ToggleArm()
|
||||
{
|
||||
if (armed) { Disarm(); return; }
|
||||
foreach (float v in sticks)
|
||||
if (Mathf.Abs(v) > armCenterTolerance) { Say("Center both sticks to arm"); return; }
|
||||
armed = true;
|
||||
}
|
||||
public void Disarm() { armed = false; stand = false; } // disarm always clears stand
|
||||
public void ToggleStand()
|
||||
{
|
||||
if (!armed) { Say("Arm first"); return; }
|
||||
stand = !stand;
|
||||
}
|
||||
public void ToggleRemoteGyro() => remoteGyro = !remoteGyro;
|
||||
|
||||
void Say(string msg) { Message = msg; messageUntil_ = Time.time + 2.5f; }
|
||||
|
||||
void HandleToggleKeys()
|
||||
{
|
||||
if (Input.GetKeyDown(KeyCode.Alpha1)) ToggleArm();
|
||||
if (Input.GetKeyDown(KeyCode.Alpha2)) ToggleStand();
|
||||
if (Input.GetKeyDown(KeyCode.Alpha3)) gaitWave = !gaitWave;
|
||||
if (Input.GetKeyDown(KeyCode.Alpha4)) modeB = !modeB;
|
||||
if (Input.GetKeyDown(KeyCode.Alpha5)) rstickXlate = !rstickXlate;
|
||||
if (Input.GetKeyDown(KeyCode.Alpha6)) ToggleRemoteGyro();
|
||||
if (Input.GetKeyDown(KeyCode.Alpha7)) robotGyro = !robotGyro;
|
||||
if (Input.GetKeyDown(KeyCode.Backspace)) Disarm();
|
||||
if (Input.GetKeyDown(KeyCode.Equals) || Input.GetKeyDown(KeyCode.KeypadPlus)) speedTarget = Mathf.Min(255, speedTarget + 25);
|
||||
if (Input.GetKeyDown(KeyCode.Minus) || Input.GetKeyDown(KeyCode.KeypadMinus)) speedTarget = Mathf.Max(0, speedTarget - 25);
|
||||
if (Input.GetKeyDown(KeyCode.PageUp)) height = Mathf.Min(1000, height + 100);
|
||||
if (Input.GetKeyDown(KeyCode.PageDown)) height = Mathf.Max(-1000, height - 100);
|
||||
}
|
||||
|
||||
// ---- Sticks ----
|
||||
|
||||
float ReadAxis(string name)
|
||||
{
|
||||
try { return Input.GetAxis(name); }
|
||||
catch (ArgumentException) { JoystickAxesMissing = true; return 0; } // axis not defined in Input Manager
|
||||
}
|
||||
|
||||
float Read(AxisBinding b)
|
||||
{
|
||||
float v = ReadAxis(b.axis) * (b.invert ? -1 : 1);
|
||||
float mag = Mathf.Abs(v);
|
||||
if (mag <= deadzone) return 0;
|
||||
return Mathf.Sign(v) * Mathf.Clamp01((mag - deadzone) / (1 - deadzone));
|
||||
}
|
||||
|
||||
void ReadJoystick()
|
||||
{
|
||||
sticks[0] = Read(leftX);
|
||||
sticks[1] = Read(leftY);
|
||||
sticks[2] = Read(leftTwist);
|
||||
sticks[3] = Read(rightX);
|
||||
sticks[4] = Read(rightY);
|
||||
sticks[5] = Read(rightTwist);
|
||||
}
|
||||
|
||||
// WASD + Q/E = left stick (walk, turn), IJKL + U/O = right stick.
|
||||
void ReadKeyboardSticks(float dt)
|
||||
{
|
||||
float Key(KeyCode pos, KeyCode neg) => (Input.GetKey(pos) ? 1 : 0) - (Input.GetKey(neg) ? 1 : 0);
|
||||
float[] target =
|
||||
{
|
||||
Key(KeyCode.D, KeyCode.A), Key(KeyCode.W, KeyCode.S), Key(KeyCode.Q, KeyCode.E),
|
||||
Key(KeyCode.L, KeyCode.J), Key(KeyCode.I, KeyCode.K), Key(KeyCode.U, KeyCode.O),
|
||||
};
|
||||
for (int i = 0; i < 6; i++) sticks[i] = Mathf.MoveTowards(sticks[i], target[i], keyStickRatePerSec * dt);
|
||||
}
|
||||
|
||||
// ---- Transmit ----
|
||||
|
||||
// Called by HexapodSimulation once per remote TX period.
|
||||
public void Transmit(HexapodSimNative native, float dt)
|
||||
{
|
||||
if (source == InputSource.RobotSerialHarness)
|
||||
{
|
||||
native.SerialInput(serialKeys_); // no radio: the firmware's harness injects its own packets
|
||||
serialKeys_ = "";
|
||||
return;
|
||||
}
|
||||
speedCurrent_ = Mathf.MoveTowards(speedCurrent_, speedTarget, speedRatePerSec * dt);
|
||||
LastPacket = BuildPacket();
|
||||
native.RadioSend(LastPacket);
|
||||
}
|
||||
|
||||
static short Wire(float v) => (short)Mathf.RoundToInt(Mathf.Clamp(v, -1f, 1f) * 1000f);
|
||||
|
||||
// Same mapping as remote/PacketBuilder.cpp.
|
||||
CmdPacket BuildPacket()
|
||||
{
|
||||
var p = new CmdPacket
|
||||
{
|
||||
seq = seq_++,
|
||||
speed_scale = (byte)Mathf.RoundToInt(speedCurrent_),
|
||||
body_height = (short)Mathf.Clamp(height, -1000, 1000), // a setting: sent even while disarmed
|
||||
};
|
||||
byte f = 0;
|
||||
if (armed) f |= CmdPacket.FLAG_ARMED;
|
||||
if (stand) f |= CmdPacket.FLAG_STAND;
|
||||
if (modeB) f |= CmdPacket.FLAG_MODE_B;
|
||||
if (rstickXlate) f |= CmdPacket.FLAG_RSTICK_XLATE;
|
||||
if (gaitWave) f |= CmdPacket.FLAG_GAIT_WAVE;
|
||||
if (robotGyro) f |= CmdPacket.FLAG_ROBOT_GYRO;
|
||||
|
||||
if (!armed) { p.flags = f; return p; } // disarmed: neutral command
|
||||
|
||||
// Left stick: forward -> +vx, right -> -vy (vy + = left), twist CCW -> +yaw_rate.
|
||||
p.vx = Wire(sticks[1]);
|
||||
p.vy = Wire(-sticks[0]);
|
||||
p.yaw_rate = Wire(sticks[2]);
|
||||
|
||||
if (rstickXlate)
|
||||
{
|
||||
p.rx = Wire(sticks[4]); // X offset: forward
|
||||
p.ry = Wire(-sticks[3]); // Y offset: right -> -Y
|
||||
p.rz = Wire(sticks[5]); // Z offset: twist CCW -> up
|
||||
}
|
||||
else
|
||||
{
|
||||
p.rx = Wire(sticks[3]); // roll: right side down
|
||||
p.ry = Wire(sticks[4]); // pitch: nose down
|
||||
p.rz = Wire(sticks[5]); // yaw: CCW
|
||||
}
|
||||
|
||||
bool walkInput = p.vx != 0 || p.vy != 0 || (!modeB && p.yaw_rate != 0);
|
||||
if (walkInput) lastWalkInputTime_ = Time.time;
|
||||
if (stand && (walkInput || Time.time - lastWalkInputTime_ < walkLingerSec)) f |= CmdPacket.FLAG_WALK;
|
||||
|
||||
if (remoteGyro)
|
||||
{
|
||||
f |= CmdPacket.FLAG_REMOTE_GYRO;
|
||||
p.remote_roll = Wire(handsetRollDeg / handsetFullScaleDeg);
|
||||
p.remote_pitch = Wire(handsetPitchDeg / handsetFullScaleDeg);
|
||||
}
|
||||
|
||||
p.flags = f;
|
||||
return p;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: d1e34fa033f570c48aba85f690477c41
|
||||
@@ -0,0 +1,160 @@
|
||||
using System.Text;
|
||||
using UnityEngine;
|
||||
|
||||
namespace HexapodSim
|
||||
{
|
||||
// On-screen control/status panel (IMGUI, so it needs no scene setup).
|
||||
// Every remote toggle, the speed slider, simulated handset tilt, ground
|
||||
// tilt, firmware reload, live robot state, the packet on air and the
|
||||
// robot's serial output. F1 hides it.
|
||||
public class SimTestPanel : MonoBehaviour
|
||||
{
|
||||
public bool visible = true;
|
||||
|
||||
HexapodSimulation sim_;
|
||||
SimRemote remote_;
|
||||
Vector2 scroll_;
|
||||
GUIStyle mono_;
|
||||
|
||||
static readonly string[] SourceNames = { "Joystick", "Keyboard", "Robot serial" };
|
||||
|
||||
void Awake()
|
||||
{
|
||||
sim_ = GetComponent<HexapodSimulation>();
|
||||
remote_ = GetComponent<SimRemote>();
|
||||
}
|
||||
|
||||
void Update()
|
||||
{
|
||||
if (Input.GetKeyDown(KeyCode.F1)) visible = !visible;
|
||||
}
|
||||
|
||||
void OnGUI()
|
||||
{
|
||||
if (!visible || sim_ == null || remote_ == null) return;
|
||||
if (mono_ == null)
|
||||
mono_ = new GUIStyle(GUI.skin.label) { font = Font.CreateDynamicFontFromOSFont("Consolas", 12), fontSize = 12, wordWrap = false };
|
||||
|
||||
GUILayout.BeginArea(new Rect(10, 10, 390, Screen.height - 20), GUI.skin.box);
|
||||
scroll_ = GUILayout.BeginScrollView(scroll_);
|
||||
|
||||
GUILayout.Label("<b>Hexapod firmware simulation</b> (F1 hides)", new GUIStyle(GUI.skin.label) { richText = true });
|
||||
if (sim_.LoadError != null)
|
||||
{
|
||||
GUILayout.Label("<color=#ff6060>" + sim_.LoadError + "</color>", new GUIStyle(GUI.skin.label) { richText = true, wordWrap = true });
|
||||
if (GUILayout.Button("Retry loading firmware")) sim_.ReloadFirmware();
|
||||
GUILayout.EndScrollView();
|
||||
GUILayout.EndArea();
|
||||
return;
|
||||
}
|
||||
|
||||
// ---- Robot status (read from the firmware's own globals) ----
|
||||
var s = sim_.Status;
|
||||
GUILayout.Label(
|
||||
$"state {s.StateName,-8} blend {s.sitStandBlend:F2} link {(s.linkOk != 0 ? "OK" : "DOWN")}\n" +
|
||||
$"heading {s.headingDeg,7:F1} IMU r {s.imuRollDeg,5:F1} p {s.imuPitchDeg,5:F1} {(s.imuEnabled != 0 ? "on" : "off")}\n" +
|
||||
$"t {s.simTimeMs / 1000f,7:F1}s ticks {s.controlTicks} stance {StanceString(s.stanceMask)}\n" +
|
||||
$"body pose {s.poseReachScale * 100f,3:F0}% walk {s.twistScale * 100f,3:F0}%" +
|
||||
$"{(s.poseReachScale < 0.995f || s.twistScale < 0.995f ? " (limited: reach / leg clearance)" : "")}\n" +
|
||||
$"body x {sim_.BodyPosMm.x,7:F0} y {sim_.BodyPosMm.y,7:F0} z {sim_.BodyPosMm.z,5:F0} mm yaw {sim_.BodyYawDeg,6:F1}",
|
||||
mono_);
|
||||
foreach (var w in sim_.RigWarnings)
|
||||
GUILayout.Label("<color=#ffb040>rig: " + w + "</color>", new GUIStyle(GUI.skin.label) { richText = true, wordWrap = true, fontSize = 11 });
|
||||
if (GUILayout.Button("Reload firmware (fresh power-on, picks up a new DLL build)")) sim_.ReloadFirmware();
|
||||
|
||||
// ---- Input source ----
|
||||
GUILayout.Space(6);
|
||||
remote_.source = (SimRemote.InputSource)GUILayout.Toolbar((int)remote_.source, SourceNames);
|
||||
if (remote_.source == SimRemote.InputSource.RobotSerialHarness)
|
||||
{
|
||||
GUILayout.Label("Keys go to robot.ino's TEST_SERIAL_INPUT harness (no radio):\n" +
|
||||
"a arm s sit/stand w/x fwd/back q/e strafe L/R\n" +
|
||||
"z/c yaw g gait m mode space stop", mono_);
|
||||
}
|
||||
else
|
||||
{
|
||||
if (remote_.source == SimRemote.InputSource.Keyboard)
|
||||
GUILayout.Label("WASD walk Q/E turn IJKL + U/O right stick\n1 arm 2 stand 3 gait 4 mode 5 R-stick 6/7 gyros\nBackspace disarm +/- speed PgUp/PgDn height", mono_);
|
||||
if (remote_.source == SimRemote.InputSource.Joystick && remote_.JoystickAxesMissing)
|
||||
GUILayout.Label("Input axes \"1\"..\"6\" are missing from the Input Manager.");
|
||||
|
||||
// ---- Toggles: same set as the remote's touchscreen ----
|
||||
GUILayout.BeginHorizontal();
|
||||
if (GUILayout.Button(remote_.armed ? "ARMED" : "DISARMED")) remote_.ToggleArm();
|
||||
if (GUILayout.Button("DISARM")) remote_.Disarm();
|
||||
if (GUILayout.Button(remote_.stand ? "STAND" : "SIT")) remote_.ToggleStand();
|
||||
GUILayout.EndHorizontal();
|
||||
GUILayout.BeginHorizontal();
|
||||
if (GUILayout.Button(remote_.gaitWave ? "WAVE" : "TRIPOD")) remote_.gaitWave = !remote_.gaitWave;
|
||||
if (GUILayout.Button(remote_.modeB ? "HEADING" : "DIRECT")) remote_.modeB = !remote_.modeB;
|
||||
if (GUILayout.Button(remote_.rstickXlate ? "R: MOVE" : "R: ROTATE")) remote_.rstickXlate = !remote_.rstickXlate;
|
||||
GUILayout.EndHorizontal();
|
||||
GUILayout.BeginHorizontal();
|
||||
remote_.remoteGyro = GUILayout.Toggle(remote_.remoteGyro, " remote gyro");
|
||||
remote_.robotGyro = GUILayout.Toggle(remote_.robotGyro, " robot gyro");
|
||||
GUILayout.EndHorizontal();
|
||||
if (!string.IsNullOrEmpty(remote_.Message)) GUILayout.Label("> " + remote_.Message);
|
||||
|
||||
GUILayout.Label($"speed {remote_.speedTarget * 100 / 255}%");
|
||||
remote_.speedTarget = Mathf.RoundToInt(GUILayout.HorizontalSlider(remote_.speedTarget, 0, 255));
|
||||
|
||||
var geo = sim_.Geometry;
|
||||
float targetMm = geo.stanceHeightMm + remote_.height / 1000f * geo.stanceHeightRangeMm;
|
||||
GUILayout.Label($"height {targetMm:F0} mm (now {sim_.Status.stanceHeightMm:F0}) PgUp/PgDn");
|
||||
remote_.height = Mathf.RoundToInt(GUILayout.HorizontalSlider(remote_.height, -1000, 1000) / 50f) * 50;
|
||||
|
||||
GUILayout.Label($"handset tilt roll {remote_.handsetRollDeg:F0} pitch {remote_.handsetPitchDeg:F0} deg");
|
||||
remote_.handsetRollDeg = GUILayout.HorizontalSlider(remote_.handsetRollDeg, -30, 30);
|
||||
remote_.handsetPitchDeg = GUILayout.HorizontalSlider(remote_.handsetPitchDeg, -30, 30);
|
||||
}
|
||||
|
||||
GUILayout.Label($"ground tilt roll {sim_.groundTiltDeg.x:F0} pitch {sim_.groundTiltDeg.y:F0} deg (robot gyro test)");
|
||||
sim_.groundTiltDeg.x = GUILayout.HorizontalSlider(sim_.groundTiltDeg.x, -15, 15);
|
||||
sim_.groundTiltDeg.y = GUILayout.HorizontalSlider(sim_.groundTiltDeg.y, -15, 15);
|
||||
if (GUILayout.Button("Level ground")) sim_.groundTiltDeg = Vector2.zero;
|
||||
|
||||
// ---- Live values ----
|
||||
GUILayout.Space(6);
|
||||
var st = remote_.sticks;
|
||||
var raw = remote_.rawAxes;
|
||||
var p = remote_.LastPacket;
|
||||
GUILayout.Label(
|
||||
$"sticks L {st[0],5:F2} {st[1],5:F2} {st[2],5:F2} R {st[3],5:F2} {st[4],5:F2} {st[5],5:F2}\n" +
|
||||
$"axes 1-6 {raw[0],5:F2} {raw[1],5:F2} {raw[2],5:F2} {raw[3],5:F2} {raw[4],5:F2} {raw[5],5:F2}\n" +
|
||||
$"packet #{p.seq,3} vx {p.vx,5} vy {p.vy,5} yaw {p.yaw_rate,5}\n" +
|
||||
$" r {p.rx,5} {p.ry,5} {p.rz,5} tilt {p.remote_roll,5} {p.remote_pitch,5}\n" +
|
||||
$" height {p.body_height,5} speed {p.speed_scale,3} flags {System.Convert.ToString(p.flags, 2).PadLeft(8, '0')}",
|
||||
mono_);
|
||||
GUILayout.Label(JointTable(), mono_);
|
||||
|
||||
GUILayout.Label("robot serial:", mono_);
|
||||
var log = new StringBuilder();
|
||||
for (int i = Mathf.Max(0, sim_.SerialLog.Count - 10); i < sim_.SerialLog.Count; i++) log.AppendLine(sim_.SerialLog[i]);
|
||||
GUILayout.Label(log.ToString(), mono_);
|
||||
|
||||
GUILayout.EndScrollView();
|
||||
GUILayout.EndArea();
|
||||
}
|
||||
|
||||
static string StanceString(int mask)
|
||||
{
|
||||
var sb = new StringBuilder(6);
|
||||
for (int i = 0; i < 6; i++) sb.Append((mask & (1 << i)) != 0 ? '#' : '.');
|
||||
return sb.ToString();
|
||||
}
|
||||
|
||||
// Per leg: decoded joint angles, whether the servo got fresh pulses
|
||||
// (a leg that stops updating while armed = IK rejected the target),
|
||||
// and whether the foot is on the ground.
|
||||
string JointTable()
|
||||
{
|
||||
var sb = new StringBuilder("leg coxa femur tibia att gnd\n");
|
||||
for (int i = 0; i < 6; i++)
|
||||
{
|
||||
sb.Append($"{i,3} {sim_.JointsDeg[i * 3],6:F1} {sim_.JointsDeg[i * 3 + 1],6:F1} {sim_.JointsDeg[i * 3 + 2],6:F1}");
|
||||
sb.Append($" {(sim_.ServoAttached[i * 3] != 0 ? " y " : " - ")} {(sim_.Contact[i] ? " # " : " . ")}\n");
|
||||
}
|
||||
return sb.ToString();
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,2 @@
|
||||
fileFormatVersion: 2
|
||||
guid: dc5806c61edfd2c4e8ef048e706a10b2
|
||||
@@ -0,0 +1,10 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 5f676c461da1c254990d7719d77e6250
|
||||
folderAsset: yes
|
||||
timeCreated: 1641405303
|
||||
licenseType: Free
|
||||
DefaultImporter:
|
||||
externalObjects: {}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
@@ -0,0 +1,72 @@
|
||||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using UnityEngine;
|
||||
|
||||
namespace Assets.JoyStick
|
||||
{
|
||||
class HandleHoystick : MonoBehaviour
|
||||
{
|
||||
public RotationControl bot;
|
||||
public Walk walk;
|
||||
|
||||
public void Update()
|
||||
{
|
||||
float a2 = Remap(Input.GetAxis("1"), 1, -127, -1, 127);
|
||||
float a1 = Remap(Input.GetAxis("2"), 1, -127, -1, 127);
|
||||
float a3 = Remap(Input.GetAxis("3"), -1, -127, 1, 127);
|
||||
|
||||
float b2 = Remap(Input.GetAxis("4"), -1, -127, 1, 127);
|
||||
float b3 = Remap(Input.GetAxis("5"), -1, -127, 1, 127);
|
||||
float b1 = Remap(Input.GetAxis("6"), -1, -127, 1, 127);
|
||||
|
||||
//Debug.Log(Input.GetAxis("4"));
|
||||
//Debug.Log(Remap(Input.GetAxis("4"), -1, -127, 1, 127));
|
||||
|
||||
bot.rotation = new Quaternion(limit(a2, -20, 20), -1 * limit(a3, -20, 20), -1 * limit(a1, -20, 20),
|
||||
1);
|
||||
|
||||
float speed = (float)(Math.Sqrt(b1 * b1 + b2 * b2) / 127) * 3;
|
||||
walk.walkspeed = speed < 0.5f ? 0 : speed;
|
||||
|
||||
float rotation = -1 * limit(b3 / 4, -5, 5);
|
||||
walk.centerRotation = rotation < 0.5f && rotation > -0.5f ? 0 : rotation;
|
||||
|
||||
walk.walkDirection = (-1 * ConvertRadiansToDegrees((float)Math.Atan2(b2, b1)));
|
||||
|
||||
float rotationabs = Math.Abs(walk.centerRotation);
|
||||
float speed2 = ((6 / 3) * walk.walkspeed) + ((6 / 5) * rotationabs);
|
||||
speed2 = speed2 < 6 ? speed2 : 6;
|
||||
walk.speed2 = (int)(10 - speed2);
|
||||
}
|
||||
|
||||
public float limit(float input, float min, float max)
|
||||
{
|
||||
input = input / 6;
|
||||
return (input < max & input > min) ? input : input < min ? min : max;
|
||||
}
|
||||
|
||||
public float ConvertRadiansToDegrees(float radians)
|
||||
{
|
||||
float degrees = (float)((180 / Math.PI) * radians);
|
||||
return (degrees);
|
||||
}
|
||||
|
||||
public float Remap(float from, float fromMin, float toMin, float fromMax, float toMax)
|
||||
{
|
||||
var fromAbs = from - fromMin;
|
||||
var fromMaxAbs = fromMax - fromMin;
|
||||
|
||||
var normal = fromAbs / fromMaxAbs;
|
||||
|
||||
var toMaxAbs = toMax - toMin;
|
||||
var toAbs = toMaxAbs * normal;
|
||||
|
||||
var to = toAbs + toMin;
|
||||
|
||||
return to;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,13 @@
|
||||
fileFormatVersion: 2
|
||||
guid: c5ce8a2605d301e44a4a210aa345ed62
|
||||
timeCreated: 1641405303
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
@@ -0,0 +1,131 @@
|
||||
using UnityEngine;
|
||||
|
||||
public class Leg : MonoBehaviour {
|
||||
public Transform Hip1;
|
||||
public Transform Hip2;
|
||||
public Transform Knie;
|
||||
|
||||
// rotation angles for different servos
|
||||
public double a1 = 0;
|
||||
public double a2 = 0;
|
||||
public double a3 = 0;
|
||||
|
||||
public Vector3 point = new Vector3(10, 10, 0);
|
||||
public Quaternion rotation = new Quaternion(0, 0, 0, 0);
|
||||
|
||||
public Vector3 transformationBeforeRotation = new Vector3(0, 0, 0);
|
||||
public Vector3 transformationAfterRotation = new Vector3(0, 0, 0);
|
||||
|
||||
public bool invertForLeftLeg = false;
|
||||
|
||||
// translation to change origin to middle of body
|
||||
public double translateX = 0;
|
||||
public double translateY = 0;
|
||||
public double translateZ = 0;
|
||||
|
||||
public GameObject pointShouldBe;
|
||||
//public Vector3 pos = new Vector3(0, 0, 0);
|
||||
|
||||
public int startServo = -1;
|
||||
|
||||
private Foot foot = new Foot();
|
||||
|
||||
// Use this for initialization
|
||||
void Start () {
|
||||
|
||||
}
|
||||
|
||||
// Update is called once per frame
|
||||
public void FixedUpdate()
|
||||
{
|
||||
foot.X = point.x;
|
||||
foot.Y = point.y;
|
||||
foot.Z = point.z;
|
||||
|
||||
foot.rotationX = rotation.x;
|
||||
foot.rotationY = rotation.y;
|
||||
foot.rotationZ = rotation.z;
|
||||
|
||||
foot.translateX = translateX;
|
||||
foot.translateY = translateY;
|
||||
foot.translateZ = translateZ;
|
||||
|
||||
// transform before rotation.
|
||||
foot.transformation = transformationBeforeRotation;
|
||||
|
||||
// transform after rotation.
|
||||
foot.transformation2 = transformationAfterRotation;
|
||||
|
||||
foot.invert = invertForLeftLeg;
|
||||
|
||||
foot.setleg();
|
||||
|
||||
if (!invertForLeftLeg)
|
||||
{
|
||||
a1 = foot.O1 - 90;
|
||||
a2 = 90 - foot.O2;
|
||||
a3 = foot.O3 - 90;
|
||||
}
|
||||
else
|
||||
{
|
||||
a1 = (foot.O1 - 90)*-1;
|
||||
a2 = 90 - foot.O2;
|
||||
a3 = foot.O3 - 90;
|
||||
}
|
||||
|
||||
if (!invertForLeftLeg && startServo != -1)
|
||||
{
|
||||
// Serial.Instance.send(startServo,
|
||||
// (int)Remap((float)a1, -90, 90, 2500, 500),
|
||||
// (int)Remap((float)a2, -90, 90, 2500, 500), // 0 is middel
|
||||
// (int)Remap((float)a3, 90, -90, 2500, 500)); // 0 is middel
|
||||
if(false)
|
||||
Serial.Instance.send(startServo,
|
||||
(int)Remap((float)a1, -90, 90, 0, 180),
|
||||
(int)Remap((float)a2, 90, -90, 0, 180), // 0 is middel
|
||||
(int)Remap((float)a3, -90, 90, 0, 180)); // 0 is middel
|
||||
}
|
||||
else if (invertForLeftLeg && startServo != -1)
|
||||
{
|
||||
double a1 = foot.O1 - 90;
|
||||
double a2 = 90 - foot.O2;
|
||||
double a3 = foot.O3 - 90;
|
||||
|
||||
// Serial.Instance.send(startServo,
|
||||
// (int)Remap((float)a1, -90, 90, 500, 2500),
|
||||
// (int)Remap((float)a2, -90, 90, 500, 2500), // 0 is middel
|
||||
// (int)Remap((float)a3, 90, -90, 500, 2500)); // 0 is middel
|
||||
if (false)
|
||||
Serial.Instance.send(startServo,
|
||||
(int)Remap((float)a1, 90, -90, 0, 180),
|
||||
(int)Remap((float)a2, -90, 90, 0, 180), // 0 is middel
|
||||
(int)Remap((float)a3, 90, -90, 0, 180)); // 0 is middel
|
||||
}
|
||||
|
||||
Hip1.transform.localRotation = Quaternion.Euler(0, (float)a1, 0);
|
||||
Hip2.transform.localRotation = Quaternion.Euler((float)a2, 0, 0);
|
||||
Knie.transform.localRotation = Quaternion.Euler((float)a3, 0, 0);
|
||||
|
||||
pointShouldBe.transform.localPosition = foot.pos;
|
||||
}
|
||||
|
||||
public Vector3 getLocalPos()
|
||||
{
|
||||
return point;
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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public class rotation
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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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public Vector3 transformation2 = new Vector3(0, 0, 0);
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|
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|
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|
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public GameObject body2;
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|
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|
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|
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|
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|
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public rotation r5 = new rotation(0.08f, -3, 3);
|
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public rotation r6 = new rotation(0.1f, -3, 3);
|
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|
||||
public rotation r7 = new rotation(0.1f, -3, 3);
|
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public rotation r8 = new rotation(0.2f, -3, 3);
|
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public rotation r9 = new rotation(0.3f, -3, 3);
|
||||
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// Use this for initialization
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void Start ()
|
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{
|
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}
|
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// Update is called once per frame
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void FixedUpdate()
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{
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|
||||
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|
||||
//rotation.z = r3.update();
|
||||
|
||||
//transformationBeforeRotation.x = r4.update();
|
||||
//transformationBeforeRotation.y = r5.update();
|
||||
//transformationBeforeRotation.z = r6.update();
|
||||
|
||||
/*transformationAfterRotation.x = r7.update();
|
||||
transformationAfterRotation.y = r8.update();
|
||||
transformationAfterRotation.z = r9.update();*/
|
||||
|
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body.transform.eulerAngles = new Vector3(rotation.x*-1, rotation.y*-1, rotation.z*-1);
|
||||
body.transform.position = transformation;
|
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body2.transform.localPosition = transformation2;
|
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|
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for (int index = 0; index < rotation2.Count; ++index)
|
||||
{
|
||||
rotation2[index].GetComponent<Leg>().rotation = rotation;
|
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rotation2[index].GetComponent<Leg>().transformationBeforeRotation = transformation;
|
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rotation2[index].GetComponent<Leg>().transformationAfterRotation = transformation2;
|
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rotation2[index].GetComponent<Leg>().FixedUpdate();
|
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using System;
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using UnityEngine;
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using System.Collections;
|
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using System.IO.Ports;
|
||||
using Random = System.Random;
|
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|
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public class Serial
|
||||
{
|
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private static Serial instance;
|
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private int rnd = 0;
|
||||
|
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private Serial()
|
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{
|
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}
|
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~Serial()
|
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{
|
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serialPort.Close();
|
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serialPort.Dispose();
|
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}
|
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public static Serial Instance
|
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{
|
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get
|
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{
|
||||
if (instance == null)
|
||||
{
|
||||
instance = new Serial();
|
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}
|
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|
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return instance;
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}
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public bool enabled = false;
|
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|
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public SerialPort serialPort;
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public int[] values = new int[18];
|
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|
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public static string ByteArrayToString(byte[] ba)
|
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{
|
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return BitConverter.ToString(ba).Replace("-", " ");
|
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}
|
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public void send(int start, int a, int b, int c)
|
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{
|
||||
if (serialPort == null)
|
||||
{
|
||||
serialPort = new SerialPort(@"\\.\" + "COM4", 250000);
|
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|
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try
|
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{
|
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serialPort.Parity = Parity.Even;
|
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serialPort.StopBits = StopBits.One;
|
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serialPort.DataBits = 8;
|
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serialPort.Open();
|
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serialPort.DiscardOutBuffer();
|
||||
serialPort.DiscardInBuffer();
|
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System.Threading.Thread.Sleep(1000);
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|
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enabled = true;
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}
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catch
|
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{
|
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enabled = false;
|
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}
|
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}
|
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|
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if (enabled)
|
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{
|
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values[start] = a;
|
||||
values[++start] = b;
|
||||
values[++start] = c;
|
||||
|
||||
if (serialPort is SerialPort && start == 17)
|
||||
{
|
||||
// string send = "s";
|
||||
byte[] send = new byte[18+1+2];
|
||||
send[18] = 0x00;
|
||||
send[19] = 0xfe;
|
||||
send[20] = 0xff;
|
||||
// send[21] = 0xff;
|
||||
|
||||
// if (rnd == 0)
|
||||
// {
|
||||
//rnd = 1;
|
||||
for (int i = 0; i < 18; i++)
|
||||
{
|
||||
//string crc = ((i) * (values[i])) + "";
|
||||
//send = send + (i).ToString() + "_" + (values[i]).ToString() + "," + crc + "=";
|
||||
byte[] intBytes = BitConverter.GetBytes(values[i]);
|
||||
if (BitConverter.IsLittleEndian)
|
||||
Array.Reverse(intBytes);
|
||||
send[i] = intBytes[3];
|
||||
send[18] += send[i];
|
||||
}
|
||||
|
||||
// Debug.Log(ByteArrayToString(send));
|
||||
serialPort.Write(send, 0, 18+1+2);
|
||||
serialPort.BaseStream.Flush();
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
// rnd = 0;
|
||||
// for (int i = 10; i < 18; i++)
|
||||
// {
|
||||
// string crc = ((i + 3) * (values[i])) + "";
|
||||
//
|
||||
// send = send + (i + 2).ToString() + "_" + (values[i]).ToString() + "," + crc + "=";
|
||||
// }
|
||||
//
|
||||
// Debug.Log(send);
|
||||
// serialPort.Write(send);
|
||||
// }
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,13 @@
|
||||
fileFormatVersion: 2
|
||||
guid: c99b6d9374ff6d3419c7692fdf3c1791
|
||||
timeCreated: 1542057315
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
@@ -0,0 +1,70 @@
|
||||
/*using System;
|
||||
using UnityEngine;
|
||||
using System.Collections;
|
||||
using System.IO.Ports;
|
||||
using System.Linq;
|
||||
|
||||
public class Serial2 : MonoBehaviour{
|
||||
|
||||
public float x;
|
||||
public float y;
|
||||
|
||||
public RotationControl bot;
|
||||
|
||||
~Serial2() {
|
||||
serialPort.Close();
|
||||
}
|
||||
|
||||
public bool enabled = false;
|
||||
|
||||
SerialPort serialPort;
|
||||
|
||||
public void Update()
|
||||
{
|
||||
if (serialPort == null)
|
||||
{
|
||||
serialPort = new SerialPort(@"\\.\" + "COM7", 115200);
|
||||
|
||||
try
|
||||
{
|
||||
serialPort.NewLine = "\n";
|
||||
|
||||
serialPort.Open();
|
||||
serialPort.DiscardOutBuffer();
|
||||
serialPort.DiscardInBuffer();
|
||||
|
||||
enabled = true;
|
||||
}
|
||||
catch
|
||||
{
|
||||
enabled = false;
|
||||
}
|
||||
}
|
||||
|
||||
if (enabled)
|
||||
{
|
||||
if (serialPort is SerialPort)
|
||||
{
|
||||
string received = serialPort.ReadLine();
|
||||
string[] data = received.Split(',');
|
||||
x = ConvertRadiansToDegrees(float.Parse(data.First()));
|
||||
y = ConvertRadiansToDegrees(float.Parse(data.Last()));
|
||||
|
||||
bot.rotation = new Quaternion(-1* limit(y, -30, 30), 0, -1* limit(x, -30, 30), 1);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public float limit(float input, float min, float max)
|
||||
{
|
||||
return (input < max & input > min) ? input : input < min ? min : max;
|
||||
}
|
||||
|
||||
public float ConvertRadiansToDegrees(float radians)
|
||||
{
|
||||
float degrees = (float) ((180 / Math.PI) * radians);
|
||||
return (degrees);
|
||||
}
|
||||
|
||||
}
|
||||
*/
|
||||
@@ -0,0 +1,13 @@
|
||||
fileFormatVersion: 2
|
||||
guid: ac6468bb4d2734947a923ea42d6d8192
|
||||
timeCreated: 1557262171
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
@@ -0,0 +1,170 @@
|
||||
//using System;
|
||||
//using UnityEngine;
|
||||
//using System.Collections;
|
||||
//using System.IO.Ports;
|
||||
//using System.Linq;
|
||||
//using UnityEngine.UI;
|
||||
|
||||
//public class Serial3 : MonoBehaviour{
|
||||
|
||||
// public RotationControl bot;
|
||||
// public Walk walk;
|
||||
|
||||
// public float a1, a2, a3, b1, b2, b3;
|
||||
|
||||
// // ~Serial3()
|
||||
// // {
|
||||
// // serialPort.Close();
|
||||
// // serialPort.Dispose();
|
||||
// // }
|
||||
|
||||
// public bool enabled = false;
|
||||
// public bool enabled_send = false;
|
||||
|
||||
// SerialPort serialPort;
|
||||
|
||||
// public void Update()
|
||||
// {
|
||||
// if (serialPort == null)
|
||||
// {
|
||||
// serialPort = new SerialPort(@"\\.\" + "COM7", 230400);
|
||||
|
||||
// try
|
||||
// {
|
||||
// serialPort.NewLine = "\r\n";
|
||||
|
||||
//// serialPort.DataReceived += new SerialDataReceivedEventHandler(DataReceivedHandler);
|
||||
|
||||
// serialPort.Open();
|
||||
// serialPort.DiscardOutBuffer();
|
||||
// serialPort.DiscardInBuffer();
|
||||
|
||||
// enabled = true;
|
||||
// }
|
||||
// catch
|
||||
// {
|
||||
// enabled = false;
|
||||
// }
|
||||
// }
|
||||
|
||||
// if (enabled)
|
||||
// {
|
||||
// serialPort = Serial.Instance.serialPort;
|
||||
// Serial.Instance.enabled = enabled_send;
|
||||
// if (serialPort is SerialPort)
|
||||
// {
|
||||
// string received = serialPort.ReadLine();
|
||||
// string[] data = received.Split(',');
|
||||
|
||||
// foreach (string d in data)
|
||||
// {
|
||||
|
||||
// string[] ch = d.Split('_');
|
||||
|
||||
// int channel = int.Parse(ch.First());
|
||||
// float value = float.Parse(ch.Last());
|
||||
|
||||
// switch (channel)
|
||||
// {
|
||||
// case 0:
|
||||
// a1 = value - 127;
|
||||
// break;
|
||||
// case 1:
|
||||
// a2 = value - 127;
|
||||
// break;
|
||||
// case 2:
|
||||
// a3 = value - 127;
|
||||
// break;
|
||||
// case 3:
|
||||
// b1 = value - 127;
|
||||
// break;
|
||||
// case 4:
|
||||
// b2 = value - 127;
|
||||
// break;
|
||||
// case 5:
|
||||
// b3 = value - 127;
|
||||
// break;
|
||||
// }
|
||||
|
||||
// bot.rotation = new Quaternion(limit(a2, -20, 20), -1 * limit(a3, -20, 20), -1 * limit(a1, -20, 20),
|
||||
// 1);
|
||||
|
||||
// float speed = (float) (Math.Sqrt(b1 * b1 + b2 * b2) / 127) * 3;
|
||||
// walk.walkspeed = speed < 0.5f ? 0 : speed;
|
||||
|
||||
// float rotation = -1 * limit(b3/4, -5, 5);
|
||||
// walk.centerRotation = rotation < 0.5f && rotation > -0.5f ? 0 : rotation;
|
||||
|
||||
// walk.walkDirection = (-1 * ConvertRadiansToDegrees((float) Math.Atan2(b2, b1)));
|
||||
|
||||
// float rotationabs = Math.Abs(walk.centerRotation);
|
||||
// float speed2 = ((6 / 3) * walk.walkspeed) + ((6/5) * rotationabs);
|
||||
// speed2 = speed2 < 6 ? speed2 : 6;
|
||||
// walk.speed2 = (int)(10 - speed2);
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
|
||||
// private void DataReceivedHandler(object sender, SerialDataReceivedEventArgs e)
|
||||
// {
|
||||
// SerialPort serialPort = (SerialPort)sender;
|
||||
|
||||
// if (enabled)
|
||||
// {
|
||||
// if (serialPort is SerialPort)
|
||||
// {
|
||||
// string received = serialPort.ReadLine();
|
||||
// string[] data = received.Split(',');
|
||||
|
||||
// foreach (string d in data)
|
||||
// {
|
||||
// // if (data == "\r")
|
||||
// // continue;
|
||||
|
||||
// string[] ch = d.Split('_');
|
||||
|
||||
// int channel = int.Parse(ch.First());
|
||||
// float value = float.Parse(ch.Last());
|
||||
|
||||
// switch (channel)
|
||||
// {
|
||||
// case 0:
|
||||
// a1 = value;
|
||||
// break;
|
||||
// case 1:
|
||||
// a2 = value;
|
||||
// break;
|
||||
// case 2:
|
||||
// a3 = value;
|
||||
// break;
|
||||
// case 3:
|
||||
// b1 = value;
|
||||
// break;
|
||||
// case 4:
|
||||
// b2 = value;
|
||||
// break;
|
||||
// case 5:
|
||||
// b3 = value;
|
||||
// break;
|
||||
// }
|
||||
// }
|
||||
|
||||
// // bot.rotation = new Quaternion(-1* limit(y, -30, 30), 0, -1* limit(x, -30, 30), 1);
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
|
||||
// public float limit(float input, float min, float max)
|
||||
// {
|
||||
// input = input / 6;
|
||||
// return (input < max & input > min) ? input : input < min ? min : max;
|
||||
// }
|
||||
|
||||
// public float ConvertRadiansToDegrees(float radians)
|
||||
// {
|
||||
// float degrees = (float)((180 / Math.PI) * radians);
|
||||
// return (degrees);
|
||||
// }
|
||||
|
||||
//}
|
||||
@@ -0,0 +1,13 @@
|
||||
fileFormatVersion: 2
|
||||
guid: 7fa025fa8dcb3a249b67fc0e2fe67b44
|
||||
timeCreated: 1558207463
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
@@ -0,0 +1,234 @@
|
||||
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);
|
||||
step2.Add(0);
|
||||
step6.Add(false);
|
||||
//step3.Add(0);
|
||||
//step4.Add(new Vector3(0, 0, 0));
|
||||
step5.Add(new Vector3());
|
||||
|
||||
freeze.Add(false);
|
||||
freeze_y.Add(false);
|
||||
}
|
||||
}
|
||||
|
||||
struct step
|
||||
{
|
||||
public Vector3 pos;
|
||||
public float rotation;
|
||||
public float height;
|
||||
public bool inAir;
|
||||
public bool inRest;
|
||||
|
||||
public step(Vector3 p, float r, float h, bool i, bool ir)
|
||||
{
|
||||
pos = p;
|
||||
rotation = r;
|
||||
height = 0;
|
||||
inAir = i;
|
||||
inRest = ir;
|
||||
}
|
||||
}
|
||||
|
||||
// 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), -1, 0, false, false),
|
||||
|
||||
new step(new Vector3(0, -2, 0), 0, 0, false, false),
|
||||
|
||||
new step(new Vector3(0, 0, 0), 0, 0, false, false), // rest
|
||||
|
||||
new step(new Vector3(1, 0, 0), 1, 0, false, true), // down middle
|
||||
new step(new Vector3(1, 0, 0), 1, 0, false, false),
|
||||
|
||||
new step(new Vector3(0, 0, 0), 0, 0, false, false), // rest
|
||||
|
||||
new step(new Vector3(0, 2, 0), 0, 0, false, false),
|
||||
new step(new Vector3(-1, 0, 0), -1, 0, true, false),
|
||||
};
|
||||
|
||||
public int st = 5;
|
||||
public int speed2 = 30;
|
||||
int speed = 10;
|
||||
|
||||
public float walkDirection = 0;
|
||||
public float centerRotation = 0;
|
||||
|
||||
int size = 8;
|
||||
|
||||
public float walkspeed = 1;
|
||||
|
||||
private List<float> step2 = new List<float>();
|
||||
//private List<float> step3 = new List<float>();
|
||||
//private List<Vector3> step4 = new List<Vector3>();
|
||||
private List<Vector3> step5 = new List<Vector3>();
|
||||
private List<bool> step6 = new List<bool>();
|
||||
|
||||
private List<bool> freeze = new List<bool>();
|
||||
private List<bool> freeze_y = new List<bool>();
|
||||
|
||||
// Update is called once per frame
|
||||
void FixedUpdate()
|
||||
{
|
||||
if (speed <= 0)
|
||||
{
|
||||
if (st >= size - 1)
|
||||
st = 0;
|
||||
else
|
||||
{
|
||||
st++;
|
||||
|
||||
if (centerRotation == 0 && walkspeed == 0)
|
||||
{
|
||||
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].inRest)
|
||||
{
|
||||
Vector3 lp = legs[index].GetComponent<Leg>().getLocalPos(); // + s[t].pos;
|
||||
//lp.y -= 2;
|
||||
if ((Mathf.Abs(lp.y - (legsInitial[index].y - 2)) < 0.0001f)
|
||||
&& (Mathf.Abs(lp.z - legsInitial[index].z) < 0.0001f)
|
||||
&& (Mathf.Abs(lp.x - legsInitial[index].x) < 1.0001f))
|
||||
{
|
||||
freeze[index] = true;
|
||||
freeze_y[index] = true;
|
||||
}
|
||||
}
|
||||
|
||||
/*else
|
||||
{
|
||||
freeze[index] = false;
|
||||
}*/
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for (int index = 0; index < legs.Count; index++)
|
||||
{
|
||||
freeze[index] = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
for (int index = 0; index < legs.Count; ++index)
|
||||
{
|
||||
int t = st;
|
||||
|
||||
if (true)
|
||||
{
|
||||
// Hex walk
|
||||
if (index == 1 || index == 3 || index == 5)
|
||||
{
|
||||
t = offset(st, 4, size);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// One leg at a time walk
|
||||
switch (index)
|
||||
{
|
||||
case 0:
|
||||
t = offset(st, 0, size);
|
||||
break;
|
||||
case 1:
|
||||
t = offset(st, 4, size);
|
||||
break;
|
||||
case 2:
|
||||
t = offset(st, 2, size);
|
||||
break;
|
||||
case 3:
|
||||
t = offset(st, 3, size);
|
||||
break;
|
||||
case 4:
|
||||
t = offset(st, 1, size);
|
||||
break;
|
||||
case 5:
|
||||
t = offset(st, 5, size);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (!freeze[index])
|
||||
{
|
||||
if (s[t].inAir == false)
|
||||
{
|
||||
step2[index] = (centerRotation * s[t].rotation) / speed2;
|
||||
|
||||
Vector3 t2 = s[t].pos;
|
||||
t2.x *= walkspeed;
|
||||
// rotate x,y around rotation.
|
||||
if (freeze_y[index])
|
||||
{
|
||||
t2.y = 0;
|
||||
}
|
||||
|
||||
step5[index] = (Quaternion.Euler(0, walkDirection, 0) * t2) / speed2;
|
||||
|
||||
step6[index] = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
Vector3 t2 = (legsInitial[index] + s[t].pos) - legs[index].GetComponent<Leg>().point;
|
||||
step5[index] = t2 / speed2;
|
||||
|
||||
step6[index] = false;
|
||||
freeze_y[index] = false;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
step5[index] = new Vector3(0, 0, 0);
|
||||
step6[index] = false;
|
||||
}
|
||||
}
|
||||
|
||||
speed = speed2;
|
||||
}
|
||||
else
|
||||
{
|
||||
speed--;
|
||||
makestep();
|
||||
}
|
||||
}
|
||||
|
||||
void makestep()
|
||||
{
|
||||
for (int index = 0; index < legs.Count; ++index)
|
||||
{
|
||||
legs[index].GetComponent<Leg>().point += step5[index];
|
||||
if (step6[index])
|
||||
{
|
||||
//legs[index].GetComponent<Leg>().point += step5[index];
|
||||
|
||||
// rotate x,y around rotation.
|
||||
legs[index].GetComponent<Leg>().setWorldPos(
|
||||
Quaternion.Euler(0, step2[index], 0) * legs[index].GetComponent<Leg>().getWorldPos()
|
||||
);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,13 @@
|
||||
fileFormatVersion: 2
|
||||
guid: a4266f2a53eea3a43972b07e077212bc
|
||||
timeCreated: 1542307321
|
||||
licenseType: Free
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
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LFS
BIN
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