Add commetns and refactoring
This commit is contained in:
Tobi
@@ -1,101 +1,120 @@
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using System.Collections;
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using System.Collections.Generic;
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///-----------------------------------------------------------------
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/// Namespace: <Cozmo>
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/// Class: <CozmoMovement>
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/// Description: <Defines the possible movement of the virtual cozmo.>
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/// Author: <Tobias Hassel> Date: <29.07.2019>
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/// Notes: <>
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///-----------------------------------------------------------------
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///
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using UnityEngine;
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public class CozmoMovement : MonoBehaviour
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namespace Cozmo
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{
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public float m_Speed = 12f; // How fast the tank moves forward and back.
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public float m_TurnSpeed = 180f; // How fast the tank turns in degrees per second.
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private string m_MovementAxisName; // The name of the input axis for moving forward and back.
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private string m_TurnAxisName; // The name of the input axis for turning.
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private Rigidbody m_Rigidbody; // Reference used to move the tank.
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private float m_MovementInputValue; // The current value of the movement input.
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private float m_TurnInputValue; // The current value of the turn input.
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private void Awake()
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public class CozmoMovement : MonoBehaviour
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{
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m_Rigidbody = GetComponent<Rigidbody>();
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private const string MOVEMENT_AXIS_NAME = "Vertical"; // name of the movement input axis
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private const string TURN_AXIS_NAME = "Horizontal"; // name of the rotation input axis
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[Tooltip("Determines how fast the robot is moving forward and backwards.")]
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public float m_Speed = 12f;
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[Tooltip("Determines how fast the robot is turning in degrees per second.")]
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public float m_TurnSpeed = 180f;
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private Rigidbody cozmoRigidbody; // Reference to cozmos rigidbody
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private float m_MovementInputValue; // current input value for movement
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private float m_TurnInputValue; // current input value for rotation
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private void Awake()
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{
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cozmoRigidbody = GetComponent<Rigidbody>();
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}
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private void OnEnable()
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{
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// When the cozmo is turned on, make sure it's not kinematic.
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cozmoRigidbody.isKinematic = false;
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// reset movement and rotation values
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m_MovementInputValue = 0f;
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m_TurnInputValue = 0f;
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}
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private void OnDisable()
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{
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// When the cozmo is turned off, set it to kinematic so it stops moving.
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cozmoRigidbody.isKinematic = true;
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}
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private void Update()
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{
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// Store the value of both input axes.
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m_MovementInputValue = Input.GetAxis(MOVEMENT_AXIS_NAME);
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m_TurnInputValue = Input.GetAxis(TURN_AXIS_NAME);
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}
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private void FixedUpdate()
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{
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// Adjust position and rotation
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Move();
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Turn();
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}
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/// <summary>
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/// Move the cozmo forward (0 < directionValue <= 1) or backwards (0 > directionvalue >= -1)
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/// </summary>
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/// <param name="directionValue"></param>
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public void Move(float directionValue)
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{
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// clamp directionValue to make sure its between -1 and 1
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Mathf.Clamp(directionValue, -1, 1);
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Vector3 movement = directionValue * transform.forward * m_Speed * Time.deltaTime;
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// Apply this movement to the rigidbody's position.
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cozmoRigidbody.MovePosition(cozmoRigidbody.position + movement);
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}
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/// <summary>
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/// Move cozmo based on the input value
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/// </summary>
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public void Move()
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{
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Move(m_MovementInputValue);
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}
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/// <summary>
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/// Rotate cozmo based on the input value
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/// </summary>
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public void Turn()
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{
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Turn(m_TurnInputValue);
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}
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/// <summary>
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/// Rotate cozmo
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/// </summary>
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/// <param name="turnValue"></param>
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public void Turn(float turnValue)
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{
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// clamp turnValue to make sure its between -1 and 1
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Mathf.Clamp(turnValue, -1, 1);
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float turn = turnValue * m_TurnSpeed * Time.deltaTime;
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// Make this into a rotation in the y axis.
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Quaternion turnRotation = Quaternion.Euler(0f, turn, 0f);
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// Apply this rotation to the rigidbody's rotation.
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cozmoRigidbody.MoveRotation(cozmoRigidbody.rotation * turnRotation);
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}
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}
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private void OnEnable()
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{
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// When the cozmo is turned on, make sure it's not kinematic.
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m_Rigidbody.isKinematic = false;
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// Also reset the input values.
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m_MovementInputValue = 0f;
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m_TurnInputValue = 0f;
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}
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private void OnDisable()
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{
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// When the cozmo is turned off, set it to kinematic so it stops moving.
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m_Rigidbody.isKinematic = true;
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}
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private void Start()
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{
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m_MovementAxisName = "Vertical";
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m_TurnAxisName = "Horizontal";
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}
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private void Update()
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{
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// Store the value of both input axes.
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m_MovementInputValue = Input.GetAxis(m_MovementAxisName);
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m_TurnInputValue = Input.GetAxis(m_TurnAxisName);
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}
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private void FixedUpdate()
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{
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// Adjust the rigidbodies position and orientation in FixedUpdate.
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Move();
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Turn();
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}
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public void Move(float directionValue)
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{
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// Create a vector in the direction the cozmo is facing with a magnitude based on the input, speed and the time between frames.
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Vector3 movement = directionValue * transform.forward * m_Speed * Time.deltaTime;
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// Apply this movement to the rigidbody's position.
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m_Rigidbody.MovePosition(m_Rigidbody.position + movement);
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}
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public void Move()
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{
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Move(m_MovementInputValue);
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}
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//public void Move(float[] act)
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//{
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//}
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public void Turn()
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{
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Turn(m_TurnInputValue);
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}
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public void Turn(float turnValue)
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{
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// Determine the number of degrees to be turned based on the input, speed and time between frames.
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float turn = turnValue * m_TurnSpeed * Time.deltaTime;
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// Make this into a rotation in the y axis.
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Quaternion turnRotation = Quaternion.Euler(0f, turn, 0f);
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// Apply this rotation to the rigidbody's rotation.
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m_Rigidbody.MoveRotation(m_Rigidbody.rotation * turnRotation);
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}
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}
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@@ -1,45 +1,55 @@
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using System;
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using System.Collections;
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using System.Collections.Generic;
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///-----------------------------------------------------------------
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/// Namespace: <Cozmo>
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/// Class: <CozmoMovementController>
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/// Description: <Statemachine to control the movement of the virtual cozmo.>
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/// Author: <Tobias Hassel> Date: <29.07.2019>
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/// Notes: <>
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///-----------------------------------------------------------------
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///
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using System;
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using UnityEngine;
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public enum MovementState { Stop, Forward, Right, Left }
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[RequireComponent(typeof(CozmoMovement))]
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public class CozmoMovementController : MonoBehaviour
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namespace Cozmo
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{
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[Tooltip("Current MovementState of the Robot. Change this to make the robot move.")]
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public MovementState currentMovementState = MovementState.Stop;
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// Different movementstates cozmo can use
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public enum MovementState { Stop, Forward, Right, Left }
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private CozmoMovement movement; // Movement script of the robot
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// Start is called before the first frame update
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void Start()
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[RequireComponent(typeof(CozmoMovement))]
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public class CozmoMovementController : MonoBehaviour
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{
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movement = GetComponent<CozmoMovement>();
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}
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[Tooltip("Current MovementState of the Robot. Change this to make the robot move.")]
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public MovementState currentMovementState = MovementState.Stop;
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private void FixedUpdate()
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{
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switch (currentMovementState)
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private CozmoMovement movement; // Movement script of the robot
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void Start()
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{
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case MovementState.Stop:
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movement.Move(0);
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break;
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case MovementState.Forward:
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movement.Move(1);
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break;
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case MovementState.Right:
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movement.Turn(1);
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break;
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case MovementState.Left:
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movement.Turn(-1);
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break;
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default:
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movement.Move(0);
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throw new ArgumentException("No real Movementstate was given. Default 'Stop' was chosen.");
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movement = GetComponent<CozmoMovement>();
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}
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private void FixedUpdate()
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{
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switch (currentMovementState)
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{
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case MovementState.Stop:
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movement.Move(0);
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break;
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case MovementState.Forward:
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movement.Move(1);
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break;
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case MovementState.Right:
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movement.Turn(1);
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break;
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case MovementState.Left:
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movement.Turn(-1);
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break;
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default:
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movement.Move(0);
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throw new ArgumentException("No real Movementstate was given. Default 'Stop' was chosen.");
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}
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}
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}
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}
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@@ -1,113 +1,126 @@
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using System;
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using System.Collections;
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using System.Collections.Generic;
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///-----------------------------------------------------------------
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/// Namespace: <CozmoHelpers>
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/// Class: <CozmoMovementTester>
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/// Description: <Used to measure the time for rotating and moving the virtual cozmo to copy the
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/// real cozmos movement behaviour.>
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/// Author: <Tobias Hassel> Date: <29.07.2019>
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/// Notes: <>
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///-----------------------------------------------------------------
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///
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using Cozmo;
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using System.Diagnostics;
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using UnityEngine;
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public enum TestStates { MovementSpeed, RotationSpeed } // enum to determine test scenarios
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[RequireComponent(typeof(CozmoMovement))]
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public class CozmoMovementTester : MonoBehaviour
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namespace CozmoHelpers
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{
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public enum TestStates { MovementSpeed, RotationSpeed } // enum to determine test scenarios
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private const float DISTANCE_TO_MEASURE_SPEED = 1f; // Distance that is used to calculate cozmos movementspeed (in m)
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private const float ROTATION_ANGLE = 90f; // Angle that is used to calculate cozmos rotationspeed
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private CozmoMovement movement; // Reference to the movement script of cozmo
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private Vector3 startPositionCozmo; // Original position of cozmo
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private float lastY; // Last Y of cozmo
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private Stopwatch movementWatch; // Stopwatch to measure the time for the movement usecase
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private Stopwatch rotationWatch; // Stopwatch to measure the time for the rotation usecase
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[Tooltip("Choose which speed of the virtual cozmo should be tested.")]
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public TestStates testState = TestStates.MovementSpeed;
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[Tooltip("Start and stop testing")]
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public bool isTesting = false;
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void Start()
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{
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movement = GetComponent<CozmoMovement>();
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movementWatch = new Stopwatch();
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rotationWatch = new Stopwatch();
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startPositionCozmo = movement.transform.position; // Cache the starting position of Cozmo
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lastY = movement.transform.rotation.y; // Cache the rotation Vector of Cozmo
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}
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private void FixedUpdate()
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{
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if (isTesting)
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{
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if (testState == TestStates.MovementSpeed)
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{
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TestMovementSpeed();
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}
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else if (testState == TestStates.RotationSpeed)
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{
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TestRotationSpeed();
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}
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}
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}
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private void TestRotationSpeed()
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[RequireComponent(typeof(CozmoMovement))]
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public class CozmoMovementTester : MonoBehaviour
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{
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float currentY = movement.transform.rotation.eulerAngles.y;
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private const float DISTANCE_TO_MEASURE_SPEED = 1f; // Distance that is used to calculate cozmos movementspeed (in m)
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private const float ROTATION_ANGLE = 90f; // Angle that is used to calculate cozmos rotationspeed
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// If distance between start and current position of cozmo reached the DISTANCE_TO_MEASURE_SPEED stop the stopwatch
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if (currentY >= lastY + ROTATION_ANGLE || currentY <= lastY - ROTATION_ANGLE)
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private CozmoMovement movement; // Reference to the movement script of cozmo
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private Vector3 startPositionCozmo; // Original position of cozmo
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private float lastY; // Last Y of cozmo
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private Stopwatch movementWatch; // Stopwatch to measure the time for the movement usecase
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private Stopwatch rotationWatch; // Stopwatch to measure the time for the rotation usecase
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[Tooltip("Choose which speed of the virtual cozmo should be tested.")]
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public TestStates testState = TestStates.MovementSpeed;
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[Tooltip("Start and stop testing from the inspector.")]
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public bool isTesting = false;
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void Start()
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{
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if (rotationWatch.IsRunning)
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{
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rotationWatch.Stop();
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UnityEngine.Debug.Log("Cozmo: " + gameObject.name +
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"\nElapsed time in milliseconds (Rotation): " + rotationWatch.ElapsedMilliseconds);
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}
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movement = GetComponent<CozmoMovement>();
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movementWatch = new Stopwatch();
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rotationWatch = new Stopwatch();
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isTesting = false;
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return;
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startPositionCozmo = movement.transform.position; // Cache the starting position of Cozmo
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lastY = movement.transform.rotation.y; // Cache the rotation Vector of Cozmo
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}
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else
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{
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// Start stopwatch to measure the time cozmo needs for a specific rotation
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if (!rotationWatch.IsRunning)
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{
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rotationWatch = Stopwatch.StartNew();
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}
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// Turn right
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movement.Turn(1);
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private void FixedUpdate()
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{
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if (isTesting)
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{
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if (testState == TestStates.MovementSpeed)
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{
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TestMovementSpeed();
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}
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else if (testState == TestStates.RotationSpeed)
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{
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TestRotationSpeed();
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}
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}
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}
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}
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private void TestMovementSpeed()
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{
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// If distance between start and current position of cozmo reached the DISTANCE_TO_MEASURE_SPEED stop the stopwatch
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if (Vector3.Distance(startPositionCozmo, movement.transform.position) >= DISTANCE_TO_MEASURE_SPEED)
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// Measure time for rotation
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private void TestRotationSpeed()
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{
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if (movementWatch.IsRunning)
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{
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movementWatch.Stop();
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UnityEngine.Debug.Log("Cozmo: " + gameObject.name +
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"/nElapsed time in milliseconds (Movement): " + movementWatch.ElapsedMilliseconds);
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}
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isTesting = false;
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return;
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float currentY = movement.transform.rotation.eulerAngles.y;
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// If distance between start and current position of cozmo reached the DISTANCE_TO_MEASURE_SPEED stop the stopwatch
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if (currentY >= lastY + ROTATION_ANGLE || currentY <= lastY - ROTATION_ANGLE)
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{
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if (rotationWatch.IsRunning)
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{
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rotationWatch.Stop();
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UnityEngine.Debug.Log("Cozmo: " + gameObject.name +
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"\nElapsed time in milliseconds (Rotation): " + rotationWatch.ElapsedMilliseconds);
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}
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isTesting = false;
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return;
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}
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else
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{
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// Start stopwatch to measure the time cozmo needs for a specific rotation
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if (!rotationWatch.IsRunning)
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{
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rotationWatch = Stopwatch.StartNew();
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}
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// Turn right
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movement.Turn(1);
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}
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}
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else
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{
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// Start stopwatch to measure the time cozmo needs for a specific distance
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if (!movementWatch.IsRunning)
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{
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movementWatch = Stopwatch.StartNew();
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}
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// Move cozmo in forward direction
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movement.Move(1);
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// Measure time for movement
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private void TestMovementSpeed()
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{
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// If distance between start and current position of cozmo reached the DISTANCE_TO_MEASURE_SPEED stop the stopwatch
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if (Vector3.Distance(startPositionCozmo, movement.transform.position) >= DISTANCE_TO_MEASURE_SPEED)
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{
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if (movementWatch.IsRunning)
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{
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movementWatch.Stop();
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UnityEngine.Debug.Log("Cozmo: " + gameObject.name +
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"/nElapsed time in milliseconds (Movement): " + movementWatch.ElapsedMilliseconds);
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}
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isTesting = false;
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return;
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}
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else
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{
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// Start stopwatch to measure the time cozmo needs for a specific distance
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if (!movementWatch.IsRunning)
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{
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movementWatch = Stopwatch.StartNew();
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}
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// Move cozmo in forward direction
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movement.Move(1);
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}
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}
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}
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}
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Reference in New Issue
Block a user