Hexapod_Simulation_Unity/Assets/Serial/Serial2.cs

/*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);
    }

}
*/