updated walk and controller input to joystick

Assets/Foot.cs

@@ -1,6 +1,4 @@
 using System;
-using System.Collections;
-using System.Collections.Generic;
 using UnityEngine;
 
 public class Foot : Component
@@ -19,7 +17,9 @@ public class Foot : Component
     //  Inverse Kinemetics Region
     double l3, s;
 
-    double l1=10, l2=15;
+    public double l1=10; // top leg length
+    public double l2=15; // bottom leg length
+    static float knie_offset = 5.5f; // distancce from horziontal servo to knee servo.
 
     public double X, Y, Z;
     public double rotationX=0, rotationY=0, rotationZ=0;
@@ -28,8 +28,6 @@ public class Foot : Component
     public Vector3 transformation = new Vector3(0, 0, 0);
     public Vector3 transformation2 = new Vector3(0, 0, 0);
 
-    static float knie_offset = 5.5f;
-
     void RL3()
     {
         if ((X == 0) && (Z == 0))

Assets/JoyStick.meta

@@ -0,0 +1,10 @@
+fileFormatVersion: 2
+guid: 5f676c461da1c254990d7719d77e6250
+folderAsset: yes
+timeCreated: 1641405303
+licenseType: Free
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/JoyStick/HandleHoystick.cs

@@ -0,0 +1,72 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using UnityEngine;
+
+namespace Assets.JoyStick
+{
+    class HandleHoystick : MonoBehaviour
+    {
+        public RotationControl bot;
+        public Walk walk;
+
+        public void Update()
+        {
+            float a2 = Remap(Input.GetAxis("1"), 1, -127, -1, 127);
+            float a1 = Remap(Input.GetAxis("2"), 1, -127, -1, 127);
+            float a3 = Remap(Input.GetAxis("3"), -1, -127, 1, 127);
+
+            float b2 = Remap(Input.GetAxis("4"), -1, -127, 1, 127);
+            float b3 = Remap(Input.GetAxis("5"), -1, -127, 1, 127);
+            float b1 = Remap(Input.GetAxis("6"), -1, -127, 1, 127);
+
+            //Debug.Log(Input.GetAxis("4"));
+            //Debug.Log(Remap(Input.GetAxis("4"), -1, -127, 1, 127));
+
+            bot.rotation = new Quaternion(limit(a2, -20, 20), -1 * limit(a3, -20, 20), -1 * limit(a1, -20, 20),
+                1);
+
+            float speed = (float)(Math.Sqrt(b1 * b1 + b2 * b2) / 127) * 3;
+            walk.walkspeed = speed < 0.5f ? 0 : speed;
+
+            float rotation = -1 * limit(b3 / 4, -5, 5);
+            walk.centerRotation = rotation < 0.5f && rotation > -0.5f ? 0 : rotation;
+
+            walk.walkDirection = (-1 * ConvertRadiansToDegrees((float)Math.Atan2(b2, b1)));
+
+            float rotationabs = Math.Abs(walk.centerRotation);
+            float speed2 = ((6 / 3) * walk.walkspeed) + ((6 / 5) * rotationabs);
+            speed2 = speed2 < 6 ? speed2 : 6;
+            walk.speed2 = (int)(10 - speed2);
+        }
+
+        public float limit(float input, float min, float max)
+        {
+            input = input / 6;
+            return (input < max & input > min) ? input : input < min ? min : max;
+        }
+
+        public float ConvertRadiansToDegrees(float radians)
+        {
+            float degrees = (float)((180 / Math.PI) * radians);
+            return (degrees);
+        }
+        
+        public float Remap(float from, float fromMin, float toMin, float fromMax, float toMax)
+        {
+            var fromAbs = from - fromMin;
+            var fromMaxAbs = fromMax - fromMin;
+
+            var normal = fromAbs / fromMaxAbs;
+
+            var toMaxAbs = toMax - toMin;
+            var toAbs = toMaxAbs * normal;
+
+            var to = toAbs + toMin;
+
+            return to;
+        }
+
+    }
+}

Assets/JoyStick/HandleHoystick.cs.meta

@@ -1,6 +1,6 @@
 fileFormatVersion: 2
-guid: a4266f2a53eea3a43972b07e077212bc
+guid: c5ce8a2605d301e44a4a210aa345ed62
-timeCreated: 1542307321
+timeCreated: 1641405303
 licenseType: Free
 MonoImporter:
   externalObjects: {}

Assets/Leg.cs

@@ -1,12 +1,11 @@
-using System.Collections;
+using UnityEngine;
-using System.Collections.Generic;
-using UnityEngine;
 
 public class Leg : MonoBehaviour {
     public Transform Hip1;
     public Transform Hip2;
     public Transform Knie;
 
+    // rotation angles for different servos
     public double a1 = 0;
     public double a2 = 0;
     public double a3 = 0;
@@ -14,11 +13,12 @@ public class Leg : MonoBehaviour {
     public Vector3 point = new Vector3(10, 10, 0);
     public Quaternion rotation = new Quaternion(0, 0, 0, 0);
 
-    public Vector3 transformation = new Vector3(0, 0, 0);
+    public Vector3 transformationBeforeRotation = new Vector3(0, 0, 0);
-    public Vector3 transformation2 = new Vector3(0, 0, 0);
+    public Vector3 transformationAfterRotation = new Vector3(0, 0, 0);
 
-    public bool invert = false;
+    public bool invertForLeftLeg = false;
 
+    // translation to change origin to middle of body
     public double translateX = 0;
     public double translateY = 0;
     public double translateZ = 0;
@@ -51,16 +51,16 @@ public class Leg : MonoBehaviour {
         foot.translateZ = translateZ;
 
         // transform before rotation.
-        foot.transformation = transformation;
+        foot.transformation = transformationBeforeRotation;
 
         // transform after rotation.
-        foot.transformation2 = transformation2;
+        foot.transformation2 = transformationAfterRotation;
 
-        foot.invert = invert;
+        foot.invert = invertForLeftLeg;
 
         foot.setleg();
 
-        if (!invert)
+        if (!invertForLeftLeg)
         {
             a1 = foot.O1 - 90;
             a2 = 90 - foot.O2;
@@ -73,23 +73,33 @@ public class Leg : MonoBehaviour {
             a3 = foot.O3 - 90;
         }
 
-        if (!invert && startServo != -1)
+        if (!invertForLeftLeg && 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
+            if(false)
             Serial.Instance.send(startServo,
-                (int)Remap((float)a1, -90, 90, 2500, 500),
+                            (int)Remap((float)a1, -90, 90, 0, 180),
-                (int)Remap((float)a2, -90, 90, 2500, 500), // 0 is middel
+                            (int)Remap((float)a2, 90, -90, 0, 180), // 0 is middel
-                (int)Remap((float)a3, 90, -90, 2500, 500)); // 0 is middel
+                            (int)Remap((float)a3, -90, 90, 0, 180)); // 0 is middel
         }
-        else if (invert && startServo != -1)
+        else if (invertForLeftLeg && startServo != -1)
         {
             double a1 = foot.O1 - 90;
             double a2 = 90 - foot.O2;
             double a3 = foot.O3 - 90;
 
-            Serial.Instance.send(startServo,
+            //            Serial.Instance.send(startServo,
-                (int)Remap((float)a1, -90, 90, 500, 2500),
+            //                (int)Remap((float)a1, -90, 90, 500, 2500),
-                (int)Remap((float)a2, -90, 90, 500, 2500), // 0 is middel
+            //                (int)Remap((float)a2, -90, 90, 500, 2500), // 0 is middel
-                (int)Remap((float)a3, 90, -90, 500, 2500)); // 0 is middel
+            //                (int)Remap((float)a3, 90, -90, 500, 2500)); // 0 is middel
+            if (false)
+                Serial.Instance.send(startServo,
+                (int)Remap((float)a1, 90, -90, 0, 180),
+                (int)Remap((float)a2, -90, 90, 0, 180), // 0 is middel
+                (int)Remap((float)a3, 90, -90, 0, 180)); // 0 is middel
         }
 
         Hip1.transform.localRotation = Quaternion.Euler(0, (float)a1, 0);

Assets/Main.unity

@@ -10529,7 +10529,7 @@ GameObject:
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
-  m_IsActive: 1
+  m_IsActive: 0
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@@ -10541,7 +10541,7 @@ Transform:
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 0}
-  m_RootOrder: 5
+  m_RootOrder: 3
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 --- !u!114 &73925800
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@@ -10549,7 +10549,7 @@ MonoBehaviour:
   m_PrefabParentObject: {fileID: 0}
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 73925798}
-  m_Enabled: 1
+  m_Enabled: 0
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   m_Script: {fileID: 11500000, guid: 7fa025fa8dcb3a249b67fc0e2fe67b44, type: 3}
   m_Name: 
@@ -10563,6 +10563,7 @@ MonoBehaviour:
   b2: 0
   b3: 0
   enabled: 0
+  enabled_send: 0
 --- !u!1 &74230589
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   m_ObjectHideFlags: 0
@@ -14153,7 +14154,7 @@ Transform:
   - {fileID: 379804153}
   - {fileID: 1946365704}
   m_Father: {fileID: 0}
-  m_RootOrder: 3
+  m_RootOrder: 5
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1 &95074500
 GameObject:
@@ -34470,14 +34471,14 @@ MonoBehaviour:
   a3: 0
   point: {x: 5, y: -15, z: -13}
   rotation: {x: 0, y: 0, z: 0, w: 0}
-  transformation: {x: 0, y: 0, z: 0}
+  transformationBeforeRotation: {x: 0, y: 0, z: 0}
-  transformation2: {x: 0, y: 0, z: 0}
+  transformationAfterRotation: {x: 0, y: 0, z: 0}
-  invert: 1
+  invertForLeftLeg: 1
   translateX: 5
   translateY: 0
   translateZ: -5
   pointShouldBe: {fileID: 32992308}
-  startServo: 22
+  startServo: 9
 --- !u!1 &211071650
 GameObject:
   m_ObjectHideFlags: 0
@@ -48754,8 +48755,6 @@ GameObject:
   m_Component:
   - component: {fileID: 311513961}
   - component: {fileID: 311513962}
-  - component: {fileID: 311513963}
-  - component: {fileID: 311513964}
   - component: {fileID: 311513965}
   m_Layer: 0
   m_Name: RotationControl
@@ -48771,7 +48770,7 @@ Transform:
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 311513960}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalPosition: {x: 0, y: 27.58, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 0}
@@ -48800,49 +48799,6 @@ MonoBehaviour:
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   body: {fileID: 2129559090}
   body2: {fileID: 1971572977}
---- !u!114 &311513963
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-  m_Script: {fileID: 11500000, guid: 62866dc69f17c5f40a7ec527e34e82f1, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  legs:
-  - {fileID: 636309705}
-  - {fileID: 596626244}
-  - {fileID: 1619174560}
-  - {fileID: 1453644144}
-  - {fileID: 1772413224}
-  - {fileID: 210611261}
-  st: 5
-  speed2: 1
-  rotation: 0
-  walkspeed: 1.5
---- !u!114 &311513964
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_PrefabParentObject: {fileID: 0}
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-  - {fileID: 1619174560}
-  - {fileID: 1453644144}
-  - {fileID: 1772413224}
-  - {fileID: 210611261}
-  st: 5
-  speed2: 1
-  rotation: 5
 --- !u!114 &311513965
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -48865,7 +48821,7 @@ MonoBehaviour:
   speed2: 10
   walkDirection: 0
   centerRotation: 0
-  walkspeed: 3
+  walkspeed: 0
 --- !u!1 &311874317
 GameObject:
   m_ObjectHideFlags: 0
@@ -92991,9 +92947,9 @@ MonoBehaviour:
   a3: 0
   point: {x: 0, y: -15, z: 13}
   rotation: {x: 0, y: 0, z: 0, w: 0}
-  transformation: {x: 0, y: 0, z: 0}
+  transformationBeforeRotation: {x: 0, y: 0, z: 0}
-  transformation2: {x: 0, y: 0, z: 0}
+  transformationAfterRotation: {x: 0, y: 0, z: 0}
-  invert: 0
+  invertForLeftLeg: 0
   translateX: 0
   translateY: 0
   translateZ: 6.5
@@ -99514,14 +99470,14 @@ MonoBehaviour:
   a3: 0
   point: {x: -5, y: -15, z: 13}
   rotation: {x: 0, y: 0, z: 0, w: 0}
-  transformation: {x: 0, y: 0, z: 0}
+  transformationBeforeRotation: {x: 0, y: 0, z: 0}
-  transformation2: {x: 0, y: 0, z: 0}
+  transformationAfterRotation: {x: 0, y: 0, z: 0}
-  invert: 0
+  invertForLeftLeg: 0
   translateX: -5
   translateY: 0
   translateZ: 5
   pointShouldBe: {fileID: 2018746516}
-  startServo: 0
+  startServo: 6
 --- !u!1 &636734778
 GameObject:
   m_ObjectHideFlags: 0
@@ -228420,7 +228376,7 @@ Transform:
   m_LocalScale: {x: 100, y: 1, z: 100}
   m_Children: []
   m_Father: {fileID: 0}
-  m_RootOrder: 4
+  m_RootOrder: 6
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1 &1414444048
 GameObject:
@@ -234926,14 +234882,14 @@ MonoBehaviour:
   a3: 0
   point: {x: -5, y: -15, z: -13}
   rotation: {x: 0, y: 0, z: 0, w: 0}
-  transformation: {x: 0, y: 0, z: 0}
+  transformationBeforeRotation: {x: 0, y: 0, z: 0}
-  transformation2: {x: 0, y: 0, z: 0}
+  transformationAfterRotation: {x: 0, y: 0, z: 0}
-  invert: 1
+  invertForLeftLeg: 1
   translateX: -5
   translateY: 0
   translateZ: -5
   pointShouldBe: {fileID: 591879371}
-  startServo: 16
+  startServo: 15
 --- !u!1 &1454125721
 GameObject:
   m_ObjectHideFlags: 0
@@ -259448,14 +259404,14 @@ MonoBehaviour:
   a3: 0
   point: {x: 5, y: -15, z: 13}
   rotation: {x: 0, y: 0, z: 0, w: 0}
-  transformation: {x: 0, y: 0, z: 0}
+  transformationBeforeRotation: {x: 0, y: 0, z: 0}
-  transformation2: {x: 0, y: 0, z: 0}
+  transformationAfterRotation: {x: 0, y: 0, z: 0}
-  invert: 0
+  invertForLeftLeg: 0
   translateX: 5
   translateY: 0
   translateZ: 5
   pointShouldBe: {fileID: 1943602706}
-  startServo: 6
+  startServo: 0
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+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 0}
+  serializedVersion: 5
+  m_Component:
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+  - component: {fileID: 1645933598}
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+  m_Name: Input
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
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+  m_Name: 
+  m_EditorClassIdentifier: 
+  bot: {fileID: 311513962}
+  walk: {fileID: 311513965}
+--- !u!4 &1645933599
+Transform:
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+  m_PrefabInternal: {fileID: 0}
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+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: -36.648933, y: -31.721676, z: -22.529099}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
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+  m_RootOrder: 2
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -284148,14 +284146,14 @@ MonoBehaviour:
   a3: 0
   point: {x: 0, y: -15, z: -13}
   rotation: {x: 0, y: 0, z: 0, w: 0}
-  transformation: {x: 0, y: 0, z: 0}
+  transformationBeforeRotation: {x: 0, y: 0, z: 0}
-  transformation2: {x: 0, y: 0, z: 0}
+  transformationAfterRotation: {x: 0, y: 0, z: 0}
-  invert: 1
+  invertForLeftLeg: 1
   translateX: 0
   translateY: 0
   translateZ: -6.5
   pointShouldBe: {fileID: 955360344}
-  startServo: 19
+  startServo: 12
 --- !u!1 &1772635191
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-  m_LocalPosition: {x: 0, y: 3, z: 0}
+  m_LocalPosition: {x: 45.12, y: 56.06, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
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@@ -339239,7 +339237,7 @@ Transform:
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+  m_RootOrder: 4
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Assets/RotationControl.cs

@@ -81,13 +81,13 @@ public class RotationControl : MonoBehaviour
         //rotation.y = r2.update();
         //rotation.z = r3.update();
 
-        //transformation.x = r4.update();
+        //transformationBeforeRotation.x = r4.update();
-        //transformation.y = r5.update();
+        //transformationBeforeRotation.y = r5.update();
-        //transformation.z = r6.update();
+        //transformationBeforeRotation.z = r6.update();
 
-        /*transformation2.x = r7.update();
+        /*transformationAfterRotation.x = r7.update();
-        transformation2.y = r8.update();
+        transformationAfterRotation.y = r8.update();
-        transformation2.z = r9.update();*/
+        transformationAfterRotation.z = r9.update();*/
 
         body.transform.eulerAngles = new Vector3(rotation.x*-1, rotation.y*-1, rotation.z*-1);
         body.transform.position = transformation;
@@ -96,8 +96,8 @@ public class RotationControl : MonoBehaviour
         for (int index = 0; index < rotation2.Count; ++index)
         {
             rotation2[index].GetComponent<Leg>().rotation = rotation;
-            rotation2[index].GetComponent<Leg>().transformation = transformation;
+            rotation2[index].GetComponent<Leg>().transformationBeforeRotation = transformation;
-            rotation2[index].GetComponent<Leg>().transformation2 = transformation2;
+            rotation2[index].GetComponent<Leg>().transformationAfterRotation = transformation2;
             rotation2[index].GetComponent<Leg>().FixedUpdate();
         }
     }

Assets/Serial.cs

@@ -1,67 +0,0 @@
-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;
-        }
-    }
-
-    public bool enabled = false;
-
-    SerialPort serialPort;
-
-    public void send(int start, int a, int b, int c)
-    {
-        if (serialPort == null)
-        {
-            serialPort = new SerialPort(@"\\.\" + "COM10", 115200);
-
-            try
-            {
-                serialPort.Open();
-                serialPort.DiscardOutBuffer();
-                serialPort.DiscardInBuffer();
-
-                enabled = true;
-            }
-            catch
-            {
-                enabled = false;
-            }
-        }
-
-        if (enabled)
-        {
-            if (serialPort is SerialPort)
-            {
-                string send = " #" + start.ToString() + " P" + a.ToString();
-                start++;
-                send = send + " #" + start.ToString() + " P" + b.ToString();
-                start++;
-                send = send + " #" + start.ToString() + " P" + c.ToString();
-
-                send = send + " \r";
-
-                serialPort.Write(send);
-            }
-        }
-    }
-
-}

Assets/Serial.meta

@@ -0,0 +1,10 @@
+fileFormatVersion: 2
+guid: 942facdab943ceb4ca29453f4ee4d1b3
+folderAsset: yes
+timeCreated: 1641404792
+licenseType: Free
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Serial/Serial.cs

@@ -0,0 +1,119 @@
+using System;
+using UnityEngine;
+using System.Collections;
+using System.IO.Ports;
+using Random = System.Random;
+
+public class Serial
+{
+    private static Serial instance;
+    private int rnd = 0;
+
+    private Serial()
+    {
+    }
+
+    ~Serial()
+    {
+        serialPort.Close();
+        serialPort.Dispose();
+    }
+
+    public static Serial Instance
+    {
+        get
+        {
+            if (instance == null)
+            {
+                instance = new Serial();
+            }
+
+            return instance;
+        }
+    }
+
+    public bool enabled = false;
+
+    public SerialPort serialPort;
+
+    public int[] values = new int[18];
+
+    public static string ByteArrayToString(byte[] ba)
+    {
+        return BitConverter.ToString(ba).Replace("-", " ");
+    }
+
+    public void send(int start, int a, int b, int c)
+    {
+        if (serialPort == null)
+        {
+            serialPort = new SerialPort(@"\\.\" + "COM4", 250000);
+
+            try
+            {
+                serialPort.Parity = Parity.Even;
+                serialPort.StopBits = StopBits.One;
+                serialPort.DataBits = 8;
+                serialPort.Open();
+                serialPort.DiscardOutBuffer();
+                serialPort.DiscardInBuffer();
+                System.Threading.Thread.Sleep(1000);
+
+                enabled = true;
+            }
+            catch
+            {
+                enabled = false;
+            }
+        }
+
+        if (enabled)
+        {
+            values[start] = a;
+            values[++start] = b;
+            values[++start] = c;
+
+            if (serialPort is SerialPort && start == 17)
+            {
+                // string send = "s";
+                byte[] send = new byte[18+1+2];
+                send[18] = 0x00;
+                send[19] = 0xfe;
+                send[20] = 0xff;
+               // send[21] = 0xff;
+
+                //                if (rnd == 0)
+                //                {
+                //rnd = 1;
+                for (int i = 0; i < 18; i++)
+                    {
+                    //string crc = ((i) * (values[i])) + "";
+                    //send = send + (i).ToString() + "_" + (values[i]).ToString() + "," + crc + "=";
+                    byte[] intBytes = BitConverter.GetBytes(values[i]);
+                    if (BitConverter.IsLittleEndian)
+                        Array.Reverse(intBytes);
+                    send[i] = intBytes[3];
+                    send[18] += send[i];
+                }
+
+                   // Debug.Log(ByteArrayToString(send));
+                    serialPort.Write(send, 0, 18+1+2);
+                    serialPort.BaseStream.Flush();
+//                }
+//                else
+//                {
+//                    rnd = 0;
+//                    for (int i = 10; i < 18; i++)
+//                    {
+//                        string crc = ((i + 3) * (values[i])) + "";
+//
+//                        send = send + (i + 2).ToString() + "_" + (values[i]).ToString() + "," + crc + "=";
+//                    }
+//
+//                    Debug.Log(send);
+//                    serialPort.Write(send);
+//                }
+            }
+        }
+    }
+}

Assets/Serial/Serial2.cs

@@ -1,4 +1,4 @@
-using System;
+/*using System;
 using UnityEngine;
 using System.Collections;
 using System.IO.Ports;
@@ -67,3 +67,4 @@ public class Serial2 : MonoBehaviour{
     }
 
 }
+*/

Assets/Serial/Serial3.cs

@@ -0,0 +1,170 @@
+//using System;
+//using UnityEngine;
+//using System.Collections;
+//using System.IO.Ports;
+//using System.Linq;
+//using UnityEngine.UI;
+
+//public class Serial3 : MonoBehaviour{
+
+//    public RotationControl bot;
+//    public Walk walk;
+
+//    public float a1, a2, a3, b1, b2, b3;
+
+//    //    ~Serial3()
+//    //    {
+//    //        serialPort.Close();
+//    //        serialPort.Dispose();
+//    //    }
+
+//    public bool enabled = false;
+//    public bool enabled_send = false;
+
+//    SerialPort serialPort;
+
+//    public void Update()
+//    {
+//        if (serialPort == null)
+//        {
+//            serialPort = new SerialPort(@"\\.\" + "COM7", 230400);
+
+//            try
+//            {
+//                serialPort.NewLine = "\r\n";
+
+////                serialPort.DataReceived += new SerialDataReceivedEventHandler(DataReceivedHandler);
+
+//                serialPort.Open();
+//                serialPort.DiscardOutBuffer();
+//                serialPort.DiscardInBuffer();
+
+//                enabled = true;
+//            }
+//            catch
+//            {
+//                enabled = false;
+//            }
+//        }
+
+//        if (enabled)
+//        {
+//            serialPort = Serial.Instance.serialPort;
+//            Serial.Instance.enabled = enabled_send;
+//            if (serialPort is SerialPort)
+//            {
+//                string received = serialPort.ReadLine();
+//                string[] data = received.Split(',');
+
+//                foreach (string d in data)
+//                {
+
+//                    string[] ch = d.Split('_');
+
+//                    int channel = int.Parse(ch.First());
+//                    float value = float.Parse(ch.Last());
+
+//                    switch (channel)
+//                    {
+//                        case 0:
+//                            a1 = value - 127;
+//                            break;
+//                        case 1:
+//                            a2 = value - 127;
+//                            break;
+//                        case 2:
+//                            a3 = value - 127;
+//                            break;
+//                        case 3:
+//                            b1 = value - 127;
+//                            break;
+//                        case 4:
+//                            b2 = value - 127;
+//                            break;
+//                        case 5:
+//                            b3 = value - 127;
+//                            break;
+//                    }
+
+//                    bot.rotation = new Quaternion(limit(a2, -20, 20), -1 * limit(a3, -20, 20), -1 * limit(a1, -20, 20),
+//                        1);
+
+//                    float speed = (float) (Math.Sqrt(b1 * b1 + b2 * b2) / 127) * 3;
+//                    walk.walkspeed = speed < 0.5f ? 0 : speed;
+
+//                    float rotation = -1 * limit(b3/4, -5, 5);
+//                    walk.centerRotation = rotation < 0.5f && rotation > -0.5f ? 0 : rotation;
+
+//                    walk.walkDirection = (-1 * ConvertRadiansToDegrees((float) Math.Atan2(b2, b1)));
+
+//                    float rotationabs = Math.Abs(walk.centerRotation);
+//                    float speed2 = ((6 / 3) * walk.walkspeed) + ((6/5) * rotationabs);
+//                    speed2 = speed2 < 6 ? speed2 : 6;
+//                    walk.speed2 = (int)(10 - speed2);
+//                }
+//            }
+//        }
+//    }
+
+//    private void DataReceivedHandler(object sender, SerialDataReceivedEventArgs e)
+//    {
+//        SerialPort serialPort = (SerialPort)sender;
+
+//        if (enabled)
+//        {
+//            if (serialPort is SerialPort)
+//            {
+//                string received = serialPort.ReadLine();
+//                string[] data = received.Split(',');
+
+//                foreach (string d in data)
+//                {
+//                    //                    if (data == "\r")
+//                    //                        continue;
+
+//                    string[] ch = d.Split('_');
+
+//                    int channel = int.Parse(ch.First());
+//                    float value = float.Parse(ch.Last());
+
+//                    switch (channel)
+//                    {
+//                        case 0:
+//                            a1 = value;
+//                            break;
+//                        case 1:
+//                            a2 = value;
+//                            break;
+//                        case 2:
+//                            a3 = value;
+//                            break;
+//                        case 3:
+//                            b1 = value;
+//                            break;
+//                        case 4:
+//                            b2 = value;
+//                            break;
+//                        case 5:
+//                            b3 = value;
+//                            break;
+//                    }
+//                }
+
+//                //                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)
+//    {
+//        input =  input / 6;
+//        return (input < max & input > min) ? input : input < min ? min : max;
+//    }
+
+//    public float ConvertRadiansToDegrees(float radians)
+//    {
+//        float degrees = (float)((180 / Math.PI) * radians);
+//        return (degrees);
+//    }
+
+//}

Assets/Serial3.cs

@@ -1,165 +0,0 @@
-using System;
-using UnityEngine;
-using System.Collections;
-using System.IO.Ports;
-using System.Linq;
-using UnityEngine.UI;
-
-public class Serial3 : MonoBehaviour{
-
-    public RotationControl bot;
-    public Walk3 walk;
-
-    public float a1, a2, a3, b1, b2, b3;
-
-    ~Serial3() {
-        serialPort.Close();
-    }
-
-    public bool enabled = false;
-
-    SerialPort serialPort;
-
-    public void Update()
-    {
-        if (serialPort == null)
-        {
-            serialPort = new SerialPort(@"\\.\" + "COM7", 115200);
-
-            try
-            {
-                serialPort.NewLine = "\r\n";
-
-//                serialPort.DataReceived += new SerialDataReceivedEventHandler(DataReceivedHandler);
-
-                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(',');
-
-                foreach (string d in data)
-                {
-
-                    string[] ch = d.Split('_');
-
-                    int channel = int.Parse(ch.First());
-                    float value = float.Parse(ch.Last());
-
-                    switch (channel)
-                    {
-                        case 0:
-                            a1 = value - 127;
-                            break;
-                        case 1:
-                            a2 = value - 127;
-                            break;
-                        case 2:
-                            a3 = value - 127;
-                            break;
-                        case 3:
-                            b1 = value - 127;
-                            break;
-                        case 4:
-                            b2 = value - 127;
-                            break;
-                        case 5:
-                            b3 = value - 127;
-                            break;
-                    }
-
-                    bot.rotation = new Quaternion(limit(a2, -20, 20), -1 * limit(a3, -20, 20), -1 * limit(a1, -20, 20),
-                        1);
-
-                    float speed = (float) (Math.Sqrt(b1 * b1 + b2 * b2) / 127) * 3;
-                    walk.walkspeed = speed < 0.5f ? 0 : speed;
-
-                    float rotation = -1 * limit(b3/4, -5, 5);
-                    walk.centerRotation = rotation < 0.5f && rotation > -0.5f ? 0 : rotation;
-
-                    walk.walkDirection = (-1 * ConvertRadiansToDegrees((float) Math.Atan2(b2, b1)));
-
-                    float rotationabs = Math.Abs(walk.centerRotation);
-                    float speed2 = ((6 / 3) * walk.walkspeed) + ((6/5) * rotationabs);
-                    speed2 = speed2 < 6 ? speed2 : 6;
-                    walk.speed2 = (int)(10 - speed2);
-                }
-            }
-        }
-    }
-
-    private void DataReceivedHandler(object sender, SerialDataReceivedEventArgs e)
-    {
-        SerialPort serialPort = (SerialPort)sender;
-
-        if (enabled)
-        {
-            if (serialPort is SerialPort)
-            {
-                string received = serialPort.ReadLine();
-                string[] data = received.Split(',');
-
-                foreach (string d in data)
-                {
-                    //                    if (data == "\r")
-                    //                        continue;
-
-                    string[] ch = d.Split('_');
-
-                    int channel = int.Parse(ch.First());
-                    float value = float.Parse(ch.Last());
-
-                    switch (channel)
-                    {
-                        case 0:
-                            a1 = value;
-                            break;
-                        case 1:
-                            a2 = value;
-                            break;
-                        case 2:
-                            a3 = value;
-                            break;
-                        case 3:
-                            b1 = value;
-                            break;
-                        case 4:
-                            b2 = value;
-                            break;
-                        case 5:
-                            b3 = value;
-                            break;
-                    }
-                }
-
-                //                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)
-    {
-        input =  input / 6;
-        return (input < max & input > min) ? input : input < min ? min : max;
-    }
-
-    public float ConvertRadiansToDegrees(float radians)
-    {
-        float degrees = (float)((180 / Math.PI) * radians);
-        return (degrees);
-    }
-
-}

Assets/Walk.cs

@@ -13,19 +13,32 @@ public class Walk : MonoBehaviour
         for (int index = 0; index < legs.Count; ++index)
         {
             legsInitial.Add(legs[index].GetComponent<Leg>().point);
-            step2.Add( new Vector3() );
+            step2.Add(0);
+            step6.Add(false);
+            //step3.Add(0);
+            //step4.Add(new Vector3(0, 0, 0));
+            step5.Add(new Vector3());
+
+            freeze.Add(false);
+            freeze_y.Add(false);
         }
     }
 
     struct step
     {
         public Vector3 pos;
+        public float rotation;
+        public float height;
         public bool inAir;
+        public bool inRest;
 
-        public step(Vector3 p, bool i)
+        public step(Vector3 p, float r, float h, bool i, bool ir)
         {
             pos = p;
+            rotation = r;
+            height = 0;
             inAir = i;
+            inRest = ir;
         }
     }
 
@@ -37,63 +50,159 @@ public class Walk : MonoBehaviour
     }
 
     step[] s = {
-        new step(new Vector3(-1, 0, 0), false),
+        new step(new Vector3(-1, 0, 0), -1, 0, false, false),
 
-        new step(new Vector3(0, -2, 0), false),
+        new step(new Vector3(0, -2, 0), 0, 0, false, false),
 
-        new step(new Vector3(0, 0, 0), false), // rest
+        new step(new Vector3(0, 0, 0), 0, 0, false, false), // rest
 
-        new step(new Vector3(1, 0, 0), false),
+        new step(new Vector3(1, 0, 0), 1, 0, false, true),  // down middle 
-        new step(new Vector3(1, 0, 0), false),    
+        new step(new Vector3(1, 0, 0), 1, 0, false, false),
         
-        new step(new Vector3(0, 0, 0), false), // rest
+        new step(new Vector3(0, 0, 0), 0, 0, false, false), // rest
 
-        new step(new Vector3(0, 2, 0), false),
+        new step(new Vector3(0, 2, 0), 0, 0, false, false),
-        new step(new Vector3(-1, 0, 0), true),
+        new step(new Vector3(-1, 0, 0), -1, 0, true, false),
     };
 
     public int st = 5;
     public int speed2 = 30;
     int speed = 10;
 
-    public float rotation = 0;
+    public float walkDirection = 0;
+    public float centerRotation = 0;
 
     int size = 8;
 
     public float walkspeed = 1;
 
-    private List<Vector3> step2 = new List<Vector3>();
+    private List<float> step2 = new List<float>();
+    //private List<float> step3 = new List<float>();
+    //private List<Vector3> step4 = new List<Vector3>();
+    private List<Vector3> step5 = new List<Vector3>();
+    private List<bool> step6 = new List<bool>();
+
+    private List<bool> freeze = new List<bool>();
+    private List<bool> freeze_y = new List<bool>();
 
     // Update is called once per frame
     void FixedUpdate()
     {
         if (speed <= 0)
         {
-            if (st >= size-1)
+            if (st >= size - 1)
                 st = 0;
             else
+            {
                 st++;
 
+                if (centerRotation == 0 && walkspeed == 0)
+                {
+                    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].inRest)
+                        {
+                            Vector3 lp = legs[index].GetComponent<Leg>().getLocalPos(); // + s[t].pos;
+                            //lp.y -= 2;
+                            if ((Mathf.Abs(lp.y - (legsInitial[index].y - 2)) < 0.0001f)
+                                && (Mathf.Abs(lp.z - legsInitial[index].z) < 0.0001f)
+                                && (Mathf.Abs(lp.x - legsInitial[index].x) < 1.0001f))
+                            {
+                                freeze[index] = true;
+                                freeze_y[index] = true;
+                            }
+                        }
+
+                        /*else
+                        {
+                            freeze[index] = false;
+                        }*/
+                    }
+                }
+                else
+                {
+                    for (int index = 0; index < legs.Count; index++)
+                    {
+                        freeze[index] = false;
+                    }
+                }
+            }
+
             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)
+                if (true)
                 {
-                    Vector3 t2 = s[t].pos;
+                    // Hex walk
-                    t2.x *= walkspeed;
+                    if (index == 1 || index == 3 || index == 5)
-
+                    {
-                    // rotate x,y around rotation.
+                        t = offset(st, 4, size);
-                    step2[index] = (Quaternion.Euler(0, rotation, 0) * t2) / speed2;
+                    }
                 }
                 else
                 {
-                    Vector3 t2 = (legsInitial[index] + s[t].pos) - legs[index].GetComponent<Leg>().point;
+                    // One leg at a time walk
-                    step2[index] = t2 / speed2;
+                    switch (index)
+                    {
+                        case 0:
+                            t = offset(st, 0, size);
+                            break;
+                        case 1:
+                            t = offset(st, 4, size);
+                            break;
+                        case 2:
+                            t = offset(st, 2, size);
+                            break;
+                        case 3:
+                            t = offset(st, 3, size);
+                            break;
+                        case 4:
+                            t = offset(st, 1, size);
+                            break;
+                        case 5:
+                            t = offset(st, 5, size);
+                            break;
+                    }
+                }
+
+                if (!freeze[index])
+                {
+                    if (s[t].inAir == false)
+                    {
+                        step2[index] = (centerRotation * s[t].rotation) / speed2;
+
+                        Vector3 t2 = s[t].pos;
+                        t2.x *= walkspeed;
+                        // rotate x,y around rotation.
+                        if (freeze_y[index])
+                        {
+                            t2.y = 0;
+                        }
+
+                        step5[index] = (Quaternion.Euler(0, walkDirection, 0) * t2) / speed2;
+
+                        step6[index] = true;
+                    }
+                    else
+                    {
+                        Vector3 t2 = (legsInitial[index] + s[t].pos) - legs[index].GetComponent<Leg>().point;
+                        step5[index] = t2 / speed2;
+
+                        step6[index] = false;
+                        freeze_y[index] = false;
+                    }
+                }
+                else
+                {
+                    step5[index] = new Vector3(0, 0, 0);
+                    step6[index] = false;
                 }
             }
 
@@ -110,7 +219,16 @@ public class Walk : MonoBehaviour
     {
         for (int index = 0; index < legs.Count; ++index)
         {
-            legs[index].GetComponent<Leg>().point += step2[index];
+            legs[index].GetComponent<Leg>().point += step5[index];
+            if (step6[index])
+            {
+                //legs[index].GetComponent<Leg>().point += step5[index];
+
+                // rotate x,y around rotation.
+                legs[index].GetComponent<Leg>().setWorldPos(
+                    Quaternion.Euler(0, step2[index], 0) * legs[index].GetComponent<Leg>().getWorldPos()
+                    );
+            }
         }
     }
 }

Assets/Walk.cs.meta

@@ -1,6 +1,6 @@
 fileFormatVersion: 2
-guid: 62866dc69f17c5f40a7ec527e34e82f1
+guid: a4266f2a53eea3a43972b07e077212bc
-timeCreated: 1542141752
+timeCreated: 1542307321
 licenseType: Free
 MonoImporter:
   externalObjects: {}

Assets/Walk2.cs

@@ -1,131 +0,0 @@
-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);
-            step2.Add(0);
-            step3.Add(0);
-            step4.Add(new Vector3(0, 0, 0));
-        }
-    }
-
-    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;
-    private List<float> step2 = new List<float>();
-    private List<float> step3 = new List<float>();
-    private List<Vector3> step4 = new List<Vector3>();
-
-    // 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)
-                {
-                    step2[index] = (rotation * s[t].rotation) / speed2;
-                    step3[index] = s[t].height / speed2;
-                    step4[index] = new Vector3(0, 0, 0);
-                }
-                else
-                {
-                    Vector3 t2 = legsInitial[index] - legs[index].GetComponent<Leg>().point;
-                    step4[index] = t2 / speed2;
-                }
-            }
-
-            speed = speed2;
-        }
-        else
-        {
-            speed--;
-            makestep();
-        }
-    }
-
-    void makestep()
-    {
-        for (int index = 0; index < legs.Count; ++index)
-        {
-            if (step4[index] == new Vector3(0, 0, 0))
-            {
-                Vector3 n = legs[index].GetComponent<Leg>().getWorldPos();
-                n = Quaternion.Euler(0, step2[index], 0) * n;
-                n.y += step3[index];
-                // rotate x,y around rotation.
-                legs[index].GetComponent<Leg>().setWorldPos(n);
-            }
-            else
-            {
-                // return to home
-                legs[index].GetComponent<Leg>().point += step4[index];
-            }
-        }
-    }
-}

Assets/Walk2.cs.meta

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

Assets/Walk3.cs

@@ -1,202 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class Walk3 : 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);
-            step2.Add(0);
-            step6.Add(false);
-            //step3.Add(0);
-            //step4.Add(new Vector3(0, 0, 0));
-            step5.Add(new Vector3());
-
-            freeze.Add(false);
-            freeze_y.Add(false);
-        }
-    }
-
-    struct step
-    {
-        public Vector3 pos;
-        public float rotation;
-        public float height;
-        public bool inAir;
-        public bool inRest;
-
-        public step(Vector3 p, float r, float h, bool i, bool ir)
-        {
-            pos = p;
-            rotation = r;
-            height = 0;
-            inAir = i;
-            inRest = ir;
-        }
-    }
-
-    // 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), -1, 0, false, false),
-
-        new step(new Vector3(0, -2, 0), 0, 0, false, false),
-
-        new step(new Vector3(0, 0, 0), 0, 0, false, false), // rest
-
-        new step(new Vector3(1, 0, 0), 1, 0, false, true),  // down middle 
-        new step(new Vector3(1, 0, 0), 1, 0, false, false),
-        
-        new step(new Vector3(0, 0, 0), 0, 0, false, false), // rest
-
-        new step(new Vector3(0, 2, 0), 0, 0, false, false),
-        new step(new Vector3(-1, 0, 0), -1, 0, true, false),
-    };
-
-    public int st = 5;
-    public int speed2 = 30;
-    int speed = 10;
-
-    public float walkDirection = 0;
-    public float centerRotation = 0;
-
-    int size = 8;
-
-    public float walkspeed = 1;
-
-    private List<float> step2 = new List<float>();
-    //private List<float> step3 = new List<float>();
-    //private List<Vector3> step4 = new List<Vector3>();
-    private List<Vector3> step5 = new List<Vector3>();
-    private List<bool> step6 = new List<bool>();
-
-    private List<bool> freeze = new List<bool>();
-    private List<bool> freeze_y = new List<bool>();
-
-    // Update is called once per frame
-    void FixedUpdate()
-    {
-        if (speed <= 0)
-        {
-            if (st >= size-1)
-                st = 0;
-            else
-            {
-                st++;
-
-                if (centerRotation == 0 && walkspeed == 0)
-                {
-                    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].inRest)
-                        {
-                            Vector3 lp = legs[index].GetComponent<Leg>().getLocalPos();// + s[t].pos;
-                            //lp.y -= 2;
-                            if ((Mathf.Abs(lp.y - (legsInitial[index].y-2)) < 0.0001f) 
-                                && (Mathf.Abs(lp.z - legsInitial[index].z) < 0.0001f) 
-                                && (Mathf.Abs(lp.x - legsInitial[index].x) < 1.0001f))
-                            {
-                                freeze[index] = true;
-                                freeze_y[index] = true;
-                            }
-                        }
-                        /*else
-                        {
-                            freeze[index] = false;
-                        }*/
-                    }
-                }
-                else
-                {
-                    for (int index = 0; index < legs.Count; index++)
-                    {
-                        freeze[index] = false;
-                    }
-                }
-            }
-
-            for (int index = 0; index < legs.Count; ++index)
-            {
-                int t = st;
-                if (index == 1 || index == 3 || index == 5)
-                {
-                    t = offset(st, 4, size);
-                }
-
-                if (!freeze[index])
-                {
-                    if (s[t].inAir == false)
-                    {
-                        step2[index] = (centerRotation * s[t].rotation) / speed2;
-
-                        Vector3 t2 = s[t].pos;
-                        t2.x *= walkspeed;
-                        // rotate x,y around rotation.
-                        if (freeze_y[index])
-                        {
-                            t2.y = 0;
-                        }
-                        step5[index] = (Quaternion.Euler(0, walkDirection, 0) * t2) / speed2;
-
-                        step6[index] = true;
-                    }
-                    else
-                    {
-                        Vector3 t2 = (legsInitial[index] + s[t].pos) - legs[index].GetComponent<Leg>().point;
-                        step5[index] = t2 / speed2;
-
-                        step6[index] = false;
-                        freeze_y[index] = false;
-                    }
-                }
-                else
-                {
-                    step5[index] = new Vector3(0, 0, 0);
-                    step6[index] = false;
-                }
-            }
-
-            speed = speed2;
-        }
-        else
-        {
-            speed--;
-            makestep();
-        }
-    }
-
-    void makestep()
-    {
-        for (int index = 0; index < legs.Count; ++index)
-        {
-            legs[index].GetComponent<Leg>().point += step5[index];
-            if (step6[index])
-            {
-                //legs[index].GetComponent<Leg>().point += step5[index];
-
-                // rotate x,y around rotation.
-                legs[index].GetComponent<Leg>().setWorldPos(
-                    Quaternion.Euler(0, step2[index], 0) * legs[index].GetComponent<Leg>().getWorldPos()
-                    );
-            }
-        }
-    }
-}

ProjectSettings/InputManager.asset

@@ -6,290 +6,98 @@ InputManager:
   serializedVersion: 2
   m_Axes:
   - serializedVersion: 3
-    m_Name: Horizontal
+    m_Name: 1
     descriptiveName: 
     descriptiveNegativeName: 
     negativeButton: left
     positiveButton: right
     altNegativeButton: a
     altPositiveButton: d
-    gravity: 3
+    gravity: 1
     dead: 0.001
-    sensitivity: 3
+    sensitivity: 1
     snap: 1
     invert: 0
-    type: 0
+    type: 2
     axis: 0
     joyNum: 0
   - serializedVersion: 3
-    m_Name: Vertical
+    m_Name: 2
     descriptiveName: 
     descriptiveNegativeName: 
     negativeButton: down
     positiveButton: up
     altNegativeButton: s
     altPositiveButton: w
-    gravity: 3
+    gravity: 1
     dead: 0.001
-    sensitivity: 3
+    sensitivity: 1
     snap: 1
     invert: 0
-    type: 0
+    type: 2
-    axis: 0
+    axis: 1
     joyNum: 0
   - serializedVersion: 3
-    m_Name: Fire1
+    m_Name: 3
     descriptiveName: 
     descriptiveNegativeName: 
     negativeButton: 
     positiveButton: left ctrl
     altNegativeButton: 
     altPositiveButton: mouse 0
-    gravity: 1000
+    gravity: 1
     dead: 0.001
-    sensitivity: 1000
+    sensitivity: 1
-    snap: 0
+    snap: 1
     invert: 0
-    type: 0
+    type: 2
-    axis: 0
+    axis: 2
     joyNum: 0
   - serializedVersion: 3
-    m_Name: Fire2
+    m_Name: 4
     descriptiveName: 
     descriptiveNegativeName: 
     negativeButton: 
     positiveButton: left alt
     altNegativeButton: 
     altPositiveButton: mouse 1
-    gravity: 1000
+    gravity: 1
     dead: 0.001
-    sensitivity: 1000
+    sensitivity: 1
-    snap: 0
+    snap: 1
     invert: 0
-    type: 0
+    type: 2
-    axis: 0
+    axis: 3
     joyNum: 0
   - serializedVersion: 3
-    m_Name: Fire3
+    m_Name: 5
     descriptiveName: 
     descriptiveNegativeName: 
     negativeButton: 
     positiveButton: left shift
     altNegativeButton: 
     altPositiveButton: mouse 2
-    gravity: 1000
+    gravity: 1
     dead: 0.001
-    sensitivity: 1000
+    sensitivity: 1
-    snap: 0
+    snap: 1
     invert: 0
-    type: 0
+    type: 2
-    axis: 0
+    axis: 4
     joyNum: 0
   - serializedVersion: 3
-    m_Name: Jump
+    m_Name: 6
     descriptiveName: 
     descriptiveNegativeName: 
     negativeButton: 
     positiveButton: space
     altNegativeButton: 
     altPositiveButton: 
-    gravity: 1000
+    gravity: 1
     dead: 0.001
-    sensitivity: 1000
-    snap: 0
-    invert: 0
-    type: 0
-    axis: 0
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Mouse X
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: 
-    altNegativeButton: 
-    altPositiveButton: 
-    gravity: 0
-    dead: 0
-    sensitivity: 0.1
-    snap: 0
-    invert: 0
-    type: 1
-    axis: 0
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Mouse Y
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: 
-    altNegativeButton: 
-    altPositiveButton: 
-    gravity: 0
-    dead: 0
-    sensitivity: 0.1
-    snap: 0
-    invert: 0
-    type: 1
-    axis: 1
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Mouse ScrollWheel
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: 
-    altNegativeButton: 
-    altPositiveButton: 
-    gravity: 0
-    dead: 0
-    sensitivity: 0.1
-    snap: 0
-    invert: 0
-    type: 1
-    axis: 2
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Horizontal
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: 
-    altNegativeButton: 
-    altPositiveButton: 
-    gravity: 0
-    dead: 0.19
     sensitivity: 1
-    snap: 0
+    snap: 1
     invert: 0
     type: 2
-    axis: 0
+    axis: 5
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Vertical
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: 
-    altNegativeButton: 
-    altPositiveButton: 
-    gravity: 0
-    dead: 0.19
-    sensitivity: 1
-    snap: 0
-    invert: 1
-    type: 2
-    axis: 1
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Fire1
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: joystick button 0
-    altNegativeButton: 
-    altPositiveButton: 
-    gravity: 1000
-    dead: 0.001
-    sensitivity: 1000
-    snap: 0
-    invert: 0
-    type: 0
-    axis: 0
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Fire2
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: joystick button 1
-    altNegativeButton: 
-    altPositiveButton: 
-    gravity: 1000
-    dead: 0.001
-    sensitivity: 1000
-    snap: 0
-    invert: 0
-    type: 0
-    axis: 0
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Fire3
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: joystick button 2
-    altNegativeButton: 
-    altPositiveButton: 
-    gravity: 1000
-    dead: 0.001
-    sensitivity: 1000
-    snap: 0
-    invert: 0
-    type: 0
-    axis: 0
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Jump
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: joystick button 3
-    altNegativeButton: 
-    altPositiveButton: 
-    gravity: 1000
-    dead: 0.001
-    sensitivity: 1000
-    snap: 0
-    invert: 0
-    type: 0
-    axis: 0
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Submit
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: return
-    altNegativeButton: 
-    altPositiveButton: joystick button 0
-    gravity: 1000
-    dead: 0.001
-    sensitivity: 1000
-    snap: 0
-    invert: 0
-    type: 0
-    axis: 0
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Submit
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: enter
-    altNegativeButton: 
-    altPositiveButton: space
-    gravity: 1000
-    dead: 0.001
-    sensitivity: 1000
-    snap: 0
-    invert: 0
-    type: 0
-    axis: 0
-    joyNum: 0
-  - serializedVersion: 3
-    m_Name: Cancel
-    descriptiveName: 
-    descriptiveNegativeName: 
-    negativeButton: 
-    positiveButton: escape
-    altNegativeButton: 
-    altPositiveButton: joystick button 1
-    gravity: 1000
-    dead: 0.001
-    sensitivity: 1000
-    snap: 0
-    invert: 0
-    type: 0
-    axis: 0
     joyNum: 0