joystick

Assets/Main.unity

@@ -10514,6 +10514,55 @@ Transform:
   m_Father: {fileID: 920748677}
   m_RootOrder: 2
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1 &73925798
+GameObject:
+  m_ObjectHideFlags: 0
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 0}
+  serializedVersion: 5
+  m_Component:
+  - component: {fileID: 73925799}
+  - component: {fileID: 73925800}
+  m_Layer: 0
+  m_Name: SerialIn
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &73925799
+Transform:
+  m_ObjectHideFlags: 0
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 0}
+  m_GameObject: {fileID: 73925798}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: -43.539, y: -46.55305, z: -15.30658}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 5
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!114 &73925800
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 0}
+  m_GameObject: {fileID: 73925798}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 7fa025fa8dcb3a249b67fc0e2fe67b44, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  bot: {fileID: 311513962}
+  walk: {fileID: 311513965}
+  a1: 0
+  a2: 0
+  a3: 0
+  b1: 0
+  b2: 0
+  b3: 0
+  enabled: 0
 --- !u!1 &74230589
 GameObject:
   m_ObjectHideFlags: 0
@@ -48816,7 +48865,7 @@ MonoBehaviour:
   speed2: 10
   walkDirection: 0
   centerRotation: 0
-  walkspeed: 2
+  walkspeed: 0
 --- !u!1 &311874317
 GameObject:
   m_ObjectHideFlags: 0

Assets/Serial2.cs

@@ -0,0 +1,69 @@
+using System;
+using UnityEngine;
+using System.Collections;
+using System.IO.Ports;
+using System.Linq;
+
+public class Serial2 : MonoBehaviour{
+
+    public float x;
+    public float y;
+
+    public RotationControl bot;
+
+    ~Serial2() {
+        serialPort.Close();
+    }
+
+    public bool enabled = false;
+
+    SerialPort serialPort;
+
+    public void Update()
+    {
+        if (serialPort == null)
+        {
+            serialPort = new SerialPort(@"\\.\" + "COM7", 115200);
+
+            try
+            {
+                serialPort.NewLine = "\n";
+
+                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(',');
+                x = ConvertRadiansToDegrees(float.Parse(data.First()));
+                y = ConvertRadiansToDegrees(float.Parse(data.Last()));
+
+                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)
+    {
+        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/Serial2.cs.meta

@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: ac6468bb4d2734947a923ea42d6d8192
+timeCreated: 1557262171
+licenseType: Free
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Serial3.cs

@@ -0,0 +1,160 @@
+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)));
+                }
+            }
+        }
+    }
+
+    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.meta

@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 7fa025fa8dcb3a249b67fc0e2fe67b44
+timeCreated: 1558207463
+licenseType: Free
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: