Added serial link to SSC32

2018-unity-sim/Assets/Foot.cs

@@ -28,7 +28,7 @@ public class Foot : Component
     public Vector3 transformation = new Vector3(0, 0, 0);
     public Vector3 transformation2 = new Vector3(0, 0, 0);
 
-    static float knie_offset = 2;
+    static float knie_offset = 3;
 
     void RL3()
     {

2018-unity-sim/Assets/Leg.cs

@@ -26,6 +26,8 @@ public class Leg : MonoBehaviour {
     public GameObject pointShouldBe;
     public Vector3 pos = new Vector3(0, 0, 0);
 
+    public int startServo = -1;
+
     private Foot foot = new Foot();
 
     // Use this for initialization
@@ -71,10 +73,34 @@ public class Leg : MonoBehaviour {
             a3 = foot.O3 - 90;
         }
 
+        if (!invert && 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
+        }
+        else if (invert && 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
+        }
+
         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 static float Remap(float value, float from1, float to1, float from2, float to2)
+    {
+        return (value - from1) / (to1 - from1) * (to2 - from2) + from2;
+    }
 }

2018-unity-sim/Assets/RotationControl.cs

@@ -57,17 +57,17 @@ public class RotationControl : MonoBehaviour
     public GameObject body;
     public GameObject body2;
 
-    public rotation r1 = new rotation(0.1f, -15, 15);
+    public rotation r1 = new rotation(0.1f, -10, 10);
-    public rotation r2 = new rotation(0.2f, -15, 15);
+    public rotation r2 = new rotation(0.2f, -10, 10);
-    public rotation r3 = new rotation(0.3f, -15, 15);
+    public rotation r3 = new rotation(0.3f, -10, 10);
 
-    public rotation r4 = new rotation(0.01f, -3, 3);
+    public rotation r4 = new rotation(0.06f, -3, 3);
-    public rotation r5 = new rotation(0.02f, -3, 3);
+    public rotation r5 = new rotation(0.08f, -3, 3);
-    public rotation r6 = new rotation(0.03f, -3, 3);
+    public rotation r6 = new rotation(0.1f, -3, 3);
 
-    public rotation r7 = new rotation(0.001f, -3, 3);
+    public rotation r7 = new rotation(0.1f, -3, 3);
-    public rotation r8 = new rotation(0.002f, -3, 3);
+    public rotation r8 = new rotation(0.2f, -3, 3);
-    public rotation r9 = new rotation(0.003f, -3, 3);
+    public rotation r9 = new rotation(0.3f, -3, 3);
 
     // Use this for initialization
     void Start ()
@@ -77,17 +77,17 @@ public class RotationControl : MonoBehaviour
     // Update is called once per frame
     void FixedUpdate()
     {
-        rotation.x = r1.update();
+        //rotation.x = r1.update();
-        rotation.y = r2.update();
+        //rotation.y = r2.update();
-        rotation.z = r3.update();
+        //rotation.z = r3.update();
 
         transformation.x = r4.update();
-        transformation.y = r5.update();
+        //transformation.y = r5.update();
         transformation.z = r6.update();
 
-        transformation2.x = r7.update();
+        /*transformation2.x = r7.update();
         transformation2.y = r8.update();
-        transformation2.z = r9.update();
+        transformation2.z = r9.update();*/
 
         body.transform.eulerAngles = new Vector3(rotation.x*-1, rotation.y*-1, rotation.z*-1);
         body.transform.position = transformation;

2018-unity-sim/Assets/Serial.cs

@@ -0,0 +1,65 @@
+using UnityEngine;
+using System.Collections;
+using System.IO.Ports;
+
+public class Serial {
+    private static Serial instance;
+
+    private Serial() { }
+
+    ~Serial() {
+        serialPort.Close();
+    }
+
+    public static Serial Instance
+    {
+        get
+        {
+            if (instance == null)
+            {
+                instance = new Serial();
+            }
+            return instance;
+        }
+    }
+
+    SerialPort serialPort;
+
+    public void send(int start, int a, int b, int c)
+    {
+        if (serialPort == null)
+        {
+            serialPort = new SerialPort(@"\\.\" + "COM10", 115200);
+
+            serialPort.Open();
+            serialPort.DiscardOutBuffer();
+            serialPort.DiscardInBuffer();
+        }
+
+        if (serialPort is SerialPort)
+        {
+
+            serialPort.Write(" #");
+            serialPort.Write(start.ToString());
+            serialPort.Write(" P");
+            serialPort.Write(a.ToString());
+
+            start++;
+
+            serialPort.Write(" #");
+            serialPort.Write(start.ToString());
+            serialPort.Write(" P");
+            serialPort.Write(b.ToString());
+
+            start++;
+
+            serialPort.Write(" #");
+            serialPort.Write(start.ToString());
+            serialPort.Write(" P");
+            serialPort.Write(c.ToString());
+
+            serialPort.Write(" \r");
+        }
+    }
+
+}

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

@@ -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: 

2018-unity-sim/ProjectSettings/ProjectSettings.asset

@@ -554,7 +554,8 @@ PlayerSettings:
   incrementalIl2cppBuild: {}
   additionalIl2CppArgs: 
   scriptingRuntimeVersion: 0
-  apiCompatibilityLevelPerPlatform: {}
+  apiCompatibilityLevelPerPlatform:
+    Standalone: 1
   m_RenderingPath: 1
   m_MobileRenderingPath: 1
   metroPackageName: Hexapod