hexapod-robot/2026-current/Hexapod_Simulation_Unity/Assets/Leg.cs

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;
    }
}