v6 rotational walking :D

Assets/Leg.cs

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

Assets/Main.unity

@@ -34428,7 +34428,6 @@ MonoBehaviour:
   translateY: 0
   translateZ: -5
   pointShouldBe: {fileID: 32992308}
-  pos: {x: 0, y: 0, z: 0}
   startServo: 22
 --- !u!1 &211071650
 GameObject:
@@ -48707,6 +48706,7 @@ GameObject:
   - component: {fileID: 311513961}
   - component: {fileID: 311513962}
   - component: {fileID: 311513963}
+  - component: {fileID: 311513964}
   m_Layer: 0
   m_Name: RotationControl
   m_TagString: Untagged
@@ -48738,7 +48738,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 30ea8dc0510444c42ae4b4db1f5ee2bd, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  transformation: {x: 0, y: 0, z: 0}
+  transformation: {x: 0, y: 2, z: 0}
   transformation2: {x: 0, y: 0, z: 0}
   rotation: {x: -1, y: 0, z: 2, w: 0}
   rotation2:
@@ -48756,7 +48756,7 @@ MonoBehaviour:
   m_PrefabParentObject: {fileID: 0}
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 311513960}
-  m_Enabled: 1
+  m_Enabled: 0
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 62866dc69f17c5f40a7ec527e34e82f1, type: 3}
   m_Name: 
@@ -48772,6 +48772,27 @@ MonoBehaviour:
   speed2: 5
   rotation: 0
   walkspeed: 1.5
+--- !u!114 &311513964
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 0}
+  m_GameObject: {fileID: 311513960}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 91e6f3895f276d94da1803128e6290e0, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  legs:
+  - {fileID: 636309705}
+  - {fileID: 596626244}
+  - {fileID: 1619174560}
+  - {fileID: 1453644144}
+  - {fileID: 1772413224}
+  - {fileID: 210611261}
+  st: 5
+  speed2: 5
+  rotation: 1
 --- !u!1 &311874317
 GameObject:
   m_ObjectHideFlags: 0
@@ -92904,7 +92925,6 @@ MonoBehaviour:
   translateY: 0
   translateZ: 7
   pointShouldBe: {fileID: 914986742}
-  pos: {x: 0, y: 0, z: 0}
   startServo: 3
 --- !u!1 &596816813
 GameObject:
@@ -99428,7 +99448,6 @@ MonoBehaviour:
   translateY: 0
   translateZ: 5
   pointShouldBe: {fileID: 2018746516}
-  pos: {x: 0, y: 0, z: 0}
   startServo: 0
 --- !u!1 &636734778
 GameObject:
@@ -223943,8 +223962,8 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 1389944203}
   m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalPosition: {x: 0, y: -1, z: 0}
-  m_LocalScale: {x: 10, y: 1, z: 10}
+  m_LocalScale: {x: 10, y: 2.5, z: 10}
   m_Children: []
   m_Father: {fileID: 1971572978}
   m_RootOrder: 0
@@ -234755,7 +234774,6 @@ MonoBehaviour:
   translateY: 0
   translateZ: -5
   pointShouldBe: {fileID: 591879371}
-  pos: {x: 0, y: 0, z: 0}
   startServo: 16
 --- !u!1 &1454125721
 GameObject:
@@ -245844,8 +245862,8 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 1525476315}
   m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalPosition: {x: 0, y: -1, z: 0}
-  m_LocalScale: {x: 5, y: 1, z: 13.5}
+  m_LocalScale: {x: 5, y: 2.5, z: 13.5}
   m_Children: []
   m_Father: {fileID: 1971572978}
   m_RootOrder: 1
@@ -259278,7 +259296,6 @@ MonoBehaviour:
   translateY: 0
   translateZ: 5
   pointShouldBe: {fileID: 1943602706}
-  pos: {x: 0, y: 0, z: 0}
   startServo: 6
 --- !u!1 &1619291355
 GameObject:
@@ -283979,7 +283996,6 @@ MonoBehaviour:
   translateY: 0
   translateZ: -7
   pointShouldBe: {fileID: 955360344}
-  pos: {x: 0, y: 0, z: 0}
   startServo: 19
 --- !u!1 &1772635191
 GameObject:

Assets/Serial.cs

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

Assets/Walk.cs

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

Assets/Walk2.cs

@@ -0,0 +1,103 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Walk2 : MonoBehaviour
+{
+    public List<GameObject> legs = new List<GameObject>();
+    private List<Vector3> legsInitial = new List<Vector3>();
+
+    // Use this for initialization
+    void Start()
+    {
+        for (int index = 0; index < legs.Count; ++index)
+        {
+            legsInitial.Add(legs[index].GetComponent<Leg>().point);
+        }
+    }
+
+    struct step
+    {
+        public float rotation;
+        public float height;
+        public bool inAir;
+
+        public step(float r, float h, bool i)
+        {
+            rotation = r;
+            height = h;
+            inAir = i;
+        }
+    }
+
+    // 1, 3, 5 -= 3
+
+    int offset(int i, int offset, int max)
+    {
+        return  i - offset < 0 ? (max - (offset - i)) : i - offset;
+    }
+
+    step[] s = {
+        new step(-1, 0, false),
+
+        new step(0, -2, false),
+
+        new step(0, 0, false), // rest
+
+        new step(1, 0, false),
+        new step(1, 0, false),    
+        
+        new step(0, 0, false), // rest
+
+        new step(0, 2, false),
+        new step(-1, 0, true),
+    };
+
+    public int st = 5;
+    public int speed2 = 30;
+    int speed = 10;
+
+    public float rotation = 0;
+
+    int size = 8;
+
+    //public float walkspeed = 1;
+
+    // Update is called once per frame
+    void FixedUpdate()
+    {
+        if (speed <= 0)
+        {
+            if (st >= size-1)
+                st = 0;
+            else
+                st++;
+
+            for (int index = 0; index < legs.Count; ++index)
+            {
+                int t = st;
+                if (index == 1 || index == 3 || index == 5)
+                {
+                    t = offset(st, 4, size);
+                }
+
+                if (s[t].inAir == false)
+                {
+                    Vector3 n = legs[index].GetComponent<Leg>().getWorldPos();
+                    n = Quaternion.Euler(0, rotation * s[t].rotation, 0) * n;
+                    n.y += s[t].height;
+                    // rotate x,y around rotation.
+                    legs[index].GetComponent<Leg>().setWorldPos(n);
+                }
+                else
+                {
+                    legs[index].GetComponent<Leg>().point = legsInitial[index] + new Vector3(0, s[t].height, 0);
+                }
+            }
+
+            speed = speed2;
+        }
+        else
+            speed--;
+    }
+}

Assets/Walk2.cs.meta

@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 91e6f3895f276d94da1803128e6290e0
+timeCreated: 1542229569
+licenseType: Free
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: