fix problem in returning to home

Assets/Main.unity

@@ -48740,7 +48740,7 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   transformation: {x: 0, y: 2, z: 0}
   transformation2: {x: 0, y: 0, z: 0}
-  rotation: {x: -1, y: 0, z: 2, w: 0}
+  rotation: {x: 0, y: 0, z: 0, w: 0}
   rotation2:
   - {fileID: 636309705}
   - {fileID: 596626244}
@@ -48756,7 +48756,7 @@ MonoBehaviour:
   m_PrefabParentObject: {fileID: 0}
   m_PrefabInternal: {fileID: 0}
   m_GameObject: {fileID: 311513960}
-  m_Enabled: 1
+  m_Enabled: 0
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 62866dc69f17c5f40a7ec527e34e82f1, type: 3}
   m_Name: 
@@ -48769,7 +48769,7 @@ MonoBehaviour:
   - {fileID: 1772413224}
   - {fileID: 210611261}
   st: 5
-  speed2: 30
+  speed2: 1
   rotation: 0
   walkspeed: 1.5
 --- !u!114 &311513964
@@ -48791,7 +48791,7 @@ MonoBehaviour:
   - {fileID: 1772413224}
   - {fileID: 210611261}
   st: 5
-  speed2: 20
+  speed2: 1
   rotation: 5
 --- !u!1 &311874317
 GameObject:

Assets/Serial.cs

@@ -29,47 +29,37 @@ public class Serial {
 
     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 == null)
-            {
-                serialPort = new SerialPort(@"\\.\" + "COM10", 115200);
-
-                try
-                {
-                    serialPort.Open();
-                    serialPort.DiscardOutBuffer();
-                    serialPort.DiscardInBuffer();
-                }
-                catch
-                {
-                    enabled = false;
-                }
-            }
-
             if (serialPort is SerialPort)
             {
-
+                string send = " #" + start.ToString() + " P" + a.ToString();
-                serialPort.Write(" #");
-                serialPort.Write(start.ToString());
-                serialPort.Write(" P");
-                serialPort.Write(a.ToString());
-
                 start++;
-
+                send = send + " #" + start.ToString() + " P" + b.ToString();
-                serialPort.Write(" #");
-                serialPort.Write(start.ToString());
-                serialPort.Write(" P");
-                serialPort.Write(b.ToString());
-
                 start++;
+                send = send + " #" + start.ToString() + " P" + c.ToString();
 
-                serialPort.Write(" #");
+                send = send + " \r";
-                serialPort.Write(start.ToString());
-                serialPort.Write(" P");
-                serialPort.Write(c.ToString());
 
-                serialPort.Write(" \r");
+                serialPort.Write(send);
             }
         }
     }

Assets/Walk.cs

@@ -92,11 +92,8 @@ public class Walk : MonoBehaviour
                 }
                 else
                 {
-                    Vector3 t2 = s[t].pos;
+                    Vector3 t2 = (legsInitial[index] + s[t].pos) - legs[index].GetComponent<Leg>().point;
-                    t2.x *= walkspeed;
+                    step2[index] = t2 / speed2;
-
-                    // rotate x,y around rotation.
-                    step2[index] = (Quaternion.Euler(0, rotation, 0) * t2) / speed2;
                 }
             }
 

Assets/Walk2.cs

@@ -15,6 +15,7 @@ public class Walk2 : MonoBehaviour
             legsInitial.Add(legs[index].GetComponent<Leg>().point);
             step2.Add(0);
             step3.Add(0);
+            step4.Add(new Vector3(0, 0, 0));
         }
     }
 
@@ -66,6 +67,7 @@ public class Walk2 : MonoBehaviour
     //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()
@@ -89,11 +91,12 @@ public class Walk2 : MonoBehaviour
                 {
                     step2[index] = (rotation * s[t].rotation) / speed2;
                     step3[index] = s[t].height / speed2;
+                    step4[index] = new Vector3(0, 0, 0);
                 }
                 else
                 {
-                    step2[index] = (rotation * s[t].rotation) / speed2;
+                    Vector3 t2 = legsInitial[index] - legs[index].GetComponent<Leg>().point;
-                    step3[index] = s[t].height / speed2;
+                    step4[index] = t2 / speed2;
                 }
             }
 
@@ -110,11 +113,19 @@ public class Walk2 : MonoBehaviour
     {
         for (int index = 0; index < legs.Count; ++index)
         {
-            Vector3 n = legs[index].GetComponent<Leg>().getWorldPos();
+            if (step4[index] == new Vector3(0, 0, 0))
-            n = Quaternion.Euler(0, step2[index], 0) * n;
+            {
-            n.y += step3[index];
+                Vector3 n = legs[index].GetComponent<Leg>().getWorldPos();
-            // rotate x,y around rotation.
+                n = Quaternion.Euler(0, step2[index], 0) * n;
-            legs[index].GetComponent<Leg>().setWorldPos(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];
+            }
         }
     }
 }