Added serial link to SSC32

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()
     {

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;
+    }
 }

Assets/Main.unity

@@ -14098,7 +14098,7 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 94996747}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: -20, y: -10, z: 11}
+  m_LocalPosition: {x: -20, y: -15, z: 11}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 379804153}
@@ -34419,7 +34419,7 @@ MonoBehaviour:
   a1: 0
   a2: 0
   a3: 0
-  point: {x: 4, y: -10, z: -13}
+  point: {x: 4, y: -15, z: -13}
   rotation: {x: 0, y: 0, z: 0, w: 0}
   transformation: {x: 0, y: 0, z: 0}
   transformation2: {x: 0, y: 0, z: 0}
@@ -34429,6 +34429,7 @@ MonoBehaviour:
   translateZ: -5
   pointShouldBe: {fileID: 32992308}
   pos: {x: 0, y: 0, z: 0}
+  startServo: 22
 --- !u!1 &211071650
 GameObject:
   m_ObjectHideFlags: 0
@@ -48736,7 +48737,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 30ea8dc0510444c42ae4b4db1f5ee2bd, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  transformation: {x: 0, y: 0, z: 0}
+  transformation: {x: 0, y: 3, z: 0}
   transformation2: {x: 0, y: 0, z: 0}
   rotation: {x: 0, y: 0, z: 0, w: 0}
   rotation2:
@@ -48748,20 +48749,6 @@ MonoBehaviour:
   - {fileID: 210611261}
   body: {fileID: 2129559090}
   body2: {fileID: 1971572977}
-  min: -25
-  max: 25
-  speed: 0.1
-  speed2: 0.2
-  speed3: 0.3
-  dir: 0
-  dir2: 0
-  dir3: 0
-  p: 0
-  r: 0
-  y: 0
-  p2: 0
-  r2: 0
-  y2: 0
 --- !u!1 &311874317
 GameObject:
   m_ObjectHideFlags: 0
@@ -54492,7 +54479,7 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 349087549}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 2}
+  m_LocalPosition: {x: 0, y: 0, z: 3}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 526007731}
@@ -55121,8 +55108,8 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 352865049}
   m_LocalRotation: {x: 0.7071068, y: -0, z: -0, w: 0.70710677}
-  m_LocalPosition: {x: 0, y: 0, z: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 1.5}
-  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_LocalScale: {x: 1, y: 1.5, z: 1}
   m_Children: []
   m_Father: {fileID: 2042398688}
   m_RootOrder: 0
@@ -58982,8 +58969,8 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 375187693}
   m_LocalRotation: {x: 0.7071068, y: -0, z: -0, w: 0.70710677}
-  m_LocalPosition: {x: 0, y: 0, z: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 1.5}
-  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_LocalScale: {x: 1, y: 1.5, z: 1}
   m_Children: []
   m_Father: {fileID: 8323914}
   m_RootOrder: 0
@@ -73260,8 +73247,8 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 471439402}
   m_LocalRotation: {x: 0.7071068, y: -0, z: -0, w: 0.70710677}
-  m_LocalPosition: {x: 0, y: 0, z: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 1.5}
-  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_LocalScale: {x: 1, y: 1.5, z: 1}
   m_Children: []
   m_Father: {fileID: 842799377}
   m_RootOrder: 0
@@ -92885,16 +92872,17 @@ MonoBehaviour:
   a1: 0
   a2: 0
   a3: 0
-  point: {x: 0, y: -10, z: 15}
+  point: {x: 0, y: -15, z: 15}
   rotation: {x: 0, y: 0, z: 0, w: 0}
   transformation: {x: 0, y: 0, z: 0}
   transformation2: {x: 0, y: 0, z: 0}
   invert: 0
   translateX: 0
   translateY: 0
-  translateZ: 5
+  translateZ: 7
   pointShouldBe: {fileID: 914986742}
   pos: {x: 0, y: 0, z: 0}
+  startServo: 3
 --- !u!1 &596816813
 GameObject:
   m_ObjectHideFlags: 0
@@ -99408,7 +99396,7 @@ MonoBehaviour:
   a1: 0
   a2: 0
   a3: 0
-  point: {x: -4, y: -10, z: 13}
+  point: {x: -4, y: -15, z: 13}
   rotation: {x: 0, y: 0, z: 0, w: 0}
   transformation: {x: 0, y: 0, z: 0}
   transformation2: {x: 0, y: 0, z: 0}
@@ -99418,6 +99406,7 @@ MonoBehaviour:
   translateZ: 5
   pointShouldBe: {fileID: 2018746516}
   pos: {x: 0, y: 0, z: 0}
+  startServo: 0
 --- !u!1 &636734778
 GameObject:
   m_ObjectHideFlags: 0
@@ -102422,7 +102411,7 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 596626244}
   m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 5}
+  m_LocalPosition: {x: 0, y: 0, z: 7}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 1668338011}
@@ -111718,8 +111707,8 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 704757434}
   m_LocalRotation: {x: 0.7071068, y: -0, z: -0, w: 0.70710677}
-  m_LocalPosition: {x: 0, y: 0, z: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 1.5}
-  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_LocalScale: {x: 1, y: 1.5, z: 1}
   m_Children: []
   m_Father: {fileID: 958514921}
   m_RootOrder: 0
@@ -134179,8 +134168,8 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 838292413}
   m_LocalRotation: {x: 0.7071068, y: -0, z: -0, w: 0.70710677}
-  m_LocalPosition: {x: 0, y: 0, z: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 1.5}
-  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_LocalScale: {x: 1, y: 1.5, z: 1}
   m_Children: []
   m_Father: {fileID: 1440823284}
   m_RootOrder: 0
@@ -138789,7 +138778,7 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 866778528}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 2}
+  m_LocalPosition: {x: 0, y: 0, z: 3}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 246942919}
@@ -157426,7 +157415,7 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 986205296}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 2}
+  m_LocalPosition: {x: 0, y: 0, z: 3}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 1248951963}
@@ -169384,7 +169373,7 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 1772413224}
   m_LocalRotation: {x: -0, y: 1, z: -0, w: 0}
-  m_LocalPosition: {x: 0, y: 0, z: -5}
+  m_LocalPosition: {x: 0, y: 0, z: -7}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 1718712321}
@@ -234734,7 +234723,7 @@ MonoBehaviour:
   a1: 0
   a2: 0
   a3: 0
-  point: {x: -4, y: -10, z: -13}
+  point: {x: -4, y: -15, z: -13}
   rotation: {x: 0, y: 0, z: 0, w: 0}
   transformation: {x: 0, y: 0, z: 0}
   transformation2: {x: 0, y: 0, z: 0}
@@ -234744,6 +234733,7 @@ MonoBehaviour:
   translateZ: -5
   pointShouldBe: {fileID: 591879371}
   pos: {x: 0, y: 0, z: 0}
+  startServo: 16
 --- !u!1 &1454125721
 GameObject:
   m_ObjectHideFlags: 0
@@ -252263,7 +252253,7 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 1573589440}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 2}
+  m_LocalPosition: {x: 0, y: 0, z: 3}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 952427227}
@@ -259167,7 +259157,7 @@ MonoBehaviour:
   a1: 0
   a2: 0
   a3: 0
-  point: {x: 4, y: -10, z: 13}
+  point: {x: 4, y: -15, z: 13}
   rotation: {x: 0, y: 0, z: 0, w: 0}
   transformation: {x: 0, y: 0, z: 0}
   transformation2: {x: 0, y: 0, z: 0}
@@ -259177,6 +259167,7 @@ MonoBehaviour:
   translateZ: 5
   pointShouldBe: {fileID: 1943602706}
   pos: {x: 0, y: 0, z: 0}
+  startServo: 6
 --- !u!1 &1619291355
 GameObject:
   m_ObjectHideFlags: 0
@@ -283867,16 +283858,17 @@ MonoBehaviour:
   a1: 0
   a2: 0
   a3: 0
-  point: {x: 0, y: -10, z: -15}
+  point: {x: 0, y: -15, z: -15}
   rotation: {x: 0, y: 0, z: 0, w: 0}
   transformation: {x: 0, y: 0, z: 0}
   transformation2: {x: 0, y: 0, z: 0}
   invert: 1
   translateX: 0
   translateY: 0
-  translateZ: -5
+  translateZ: -7
   pointShouldBe: {fileID: 955360344}
   pos: {x: 0, y: 0, z: 0}
+  startServo: 19
 --- !u!1 &1772635191
 GameObject:
   m_ObjectHideFlags: 0
@@ -290827,7 +290819,7 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 1813824933}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 2}
+  m_LocalPosition: {x: 0, y: 0, z: 3}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 1534966623}
@@ -291218,8 +291210,8 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 1816451333}
   m_LocalRotation: {x: 0.7071068, y: -0, z: -0, w: 0.70710677}
-  m_LocalPosition: {x: 0, y: 0, z: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 1.5}
-  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_LocalScale: {x: 1, y: 1.5, z: 1}
   m_Children: []
   m_Father: {fileID: 202055677}
   m_RootOrder: 0
@@ -305967,7 +305959,7 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 1902568238}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 2}
+  m_LocalPosition: {x: 0, y: 0, z: 3}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 1164689000}

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;

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");
+        }
+    }
+
+}

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: 

ProjectSettings/ProjectSettings.asset

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