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if (serialPort == null) + if (enabled) { - serialPort = new SerialPort(@"\\.\" + "COM10", 115200); + if (serialPort == null) + { + serialPort = new SerialPort(@"\\.\" + "COM10", 115200); - serialPort.Open(); - serialPort.DiscardOutBuffer(); - serialPort.DiscardInBuffer(); - } + serialPort.Open(); + serialPort.DiscardOutBuffer(); + serialPort.DiscardInBuffer(); + } - if (serialPort is SerialPort) - { + if (serialPort is SerialPort) + { - serialPort.Write(" #"); - serialPort.Write(start.ToString()); - serialPort.Write(" P"); - serialPort.Write(a.ToString()); + serialPort.Write(" #"); + serialPort.Write(start.ToString()); + serialPort.Write(" P"); + serialPort.Write(a.ToString()); - start++; + start++; - serialPort.Write(" #"); - serialPort.Write(start.ToString()); - serialPort.Write(" P"); - serialPort.Write(b.ToString()); + serialPort.Write(" #"); + serialPort.Write(start.ToString()); + serialPort.Write(" P"); + serialPort.Write(b.ToString()); - start++; + start++; - serialPort.Write(" #"); - serialPort.Write(start.ToString()); - serialPort.Write(" P"); - serialPort.Write(c.ToString()); + serialPort.Write(" #"); + serialPort.Write(start.ToString()); + serialPort.Write(" P"); + serialPort.Write(c.ToString()); - serialPort.Write(" \r"); + serialPort.Write(" \r"); + } } } diff --git a/Assets/Walk.cs b/Assets/Walk.cs new file mode 100644 index 0000000..4382d70 --- /dev/null +++ b/Assets/Walk.cs @@ -0,0 +1,101 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +public class Walk : MonoBehaviour +{ + public List legs = new List(); + private List legsInitial = new List(); + + // Use this for initialization + void Start() + { + for (int index = 0; index < legs.Count; ++index) + { + legsInitial.Add(legs[index].GetComponent().point); + } + } + + struct step + { + public Vector3 pos; + public bool inAir; + + public step(Vector3 p, bool i) + { + pos = p; + 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(new Vector3(-1, 0, 0), false), + + new step(new Vector3(0, -2, 0), false), + + new step(new Vector3(0, 0, 0), false), // rest + + new step(new Vector3(1, 0, 0), false), + new step(new Vector3(1, 0, 0), false), + + new step(new Vector3(0, 0, 0), false), // rest + + new step(new Vector3(0, 2, 0), true), + new step(new Vector3(-1, 0, 0), false), + }; + + 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 t2 = s[t].pos; + t2.x *= walkspeed; + + // rotate x,y around rotation. + legs[index].GetComponent().point += Quaternion.Euler(0, rotation, 0) * t2; + } + else + { + legs[index].GetComponent().point = legsInitial[index] + s[t].pos; + } + } + + speed = speed2; + } + else + speed--; + } +} diff --git a/Assets/Walk.cs.meta b/Assets/Walk.cs.meta new file mode 100644 index 0000000..72a7f4a --- /dev/null +++ b/Assets/Walk.cs.meta @@ -0,0 +1,13 @@ +fileFormatVersion: 2 +guid: 62866dc69f17c5f40a7ec527e34e82f1 +timeCreated: 1542141752 +licenseType: Free +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: