Added serial link to SSC32

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;
+    }
 }