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Add CozmoMovementTest script to find out rotation and movement speed in the simulation

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Tobi 2019-04-27 19:37:45 +02:00
parent c40daab5fd
commit 113ec4e454
4 changed files with 169 additions and 75 deletions
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89
Assets/Scenes/CozmoTraining.unity
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39
Assets/Scripts/Movemnet/CozmoMovement.cs
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@ -4,17 +4,17 @@ using UnityEngine;
public class CozmoMovement : MonoBehaviour
{
public float m_Speed = 12f; // How fast the tank moves forward and back.
public float m_TurnSpeed = 180f; // How fast the tank turns in degrees per second.
private string m_MovementAxisName; // The name of the input axis for moving forward and back.
private string m_TurnAxisName; // The name of the input axis for turning.
private Rigidbody m_Rigidbody; // Reference used to move the tank.
private float m_MovementInputValue; // The current value of the movement input.
private float m_TurnInputValue; // The current value of the turn input.
private void Awake()
{
@ -43,9 +43,9 @@ public class CozmoMovement : MonoBehaviour
private void Start()
{
// The axes names are based on player number.
m_MovementAxisName = "Vertical";
m_TurnAxisName = "Horizontal";
m_MovementAxisName = "Vertical";
m_TurnAxisName = "Horizontal";
}
@ -53,9 +53,9 @@ public class CozmoMovement : MonoBehaviour
{
// Store the value of both input axes.
m_MovementInputValue = Input.GetAxis(m_MovementAxisName);
m_TurnInputValue = Input.GetAxis(m_TurnAxisName);
m_TurnInputValue = Input.GetAxis(m_TurnAxisName);
}
private void FixedUpdate()
{
@ -64,21 +64,34 @@ public class CozmoMovement : MonoBehaviour
Turn();
}
private void Move()
public void Move(float directionValue)
{
// Create a vector in the direction the tank is facing with a magnitude based on the input, speed and the time between frames.
Vector3 movement = transform.forward * m_MovementInputValue * m_Speed * Time.deltaTime;
Vector3 movement = directionValue * transform.forward * m_Speed * Time.deltaTime;
// Apply this movement to the rigidbody's position.
m_Rigidbody.MovePosition(m_Rigidbody.position + movement);
}
public void Move()
{
Move(m_MovementInputValue);
}
private void Turn()
//public void Move(float[] act)
//{
//}
public void Turn()
{
Turn(m_TurnInputValue);
}
public void Turn(float turnValue)
{
// Determine the number of degrees to be turned based on the input, speed and time between frames.
float turn = m_TurnInputValue * m_TurnSpeed * Time.deltaTime;
float turn = turnValue * m_TurnSpeed * Time.deltaTime;
// Make this into a rotation in the y axis.
Quaternion turnRotation = Quaternion.Euler(0f, turn, 0f);

105
Assets/Scripts/Movemnet/CozmoMovementTester.cs Normal file
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@ -0,0 +1,105 @@
using System;
using System.Collections;
using System.Collections.Generic;
using System.Diagnostics;
using UnityEngine;
public enum TestStates { MovementSpeed, RotationSpeed }
[RequireComponent(typeof(CozmoMovement))]
public class CozmoMovementTester : MonoBehaviour
{
private const float DISTANCE_TO_MEASURE_SPEED = 1f; // Distance that is used to calculate cozmos movementspeed (in m)
private const float ROTATION_ANGLE = 90f; // Angle that is used to calculate cozmos rotationspeed
private CozmoMovement movement; // Reference to the movement script of cozmo
private Vector3 startPositionCozmo; // Original position of cozmo
private float lastY; // Last Y of cozmo
private float curAngleX = 0; // Current angle in the x axis of cozmo
private Stopwatch movementWatch; // Stopwatch to measure the time for the movement usecase
private Stopwatch rotationWatch; // Stopwatch to measure the time for the rotation usecase
[Tooltip("Choose which speed of the virtual cozmo should be tested.")]
public TestStates testState = TestStates.MovementSpeed;
void Start()
{
movement = GetComponent<CozmoMovement>();
movementWatch = new Stopwatch();
rotationWatch = new Stopwatch();
startPositionCozmo = movement.transform.position; // Cache the starting position of Cozmo
lastY = movement.transform.rotation.y; // Cache the rotation Vector of Cozmo
}
private void FixedUpdate()
{
if (testState == TestStates.MovementSpeed)
{
TestMovementSpeed();
}
else if (testState == TestStates.RotationSpeed)
{
TestRotationSpeed();
}
}
private void TestRotationSpeed()
{
float currentY = movement.transform.rotation.eulerAngles.y;
// If distance between start and current position of cozmo reached the DISTANCE_TO_MEASURE_SPEED stop the stopwatch
if (currentY >= lastY + ROTATION_ANGLE || currentY <= lastY - ROTATION_ANGLE)
{
if (rotationWatch.IsRunning)
{
rotationWatch.Stop();
UnityEngine.Debug.Log("Cozmo: " + gameObject.name +
"/nElapsed time in milliseconds (Rotation): " + rotationWatch.ElapsedMilliseconds);
}
return;
}
else
{
// Start stopwatch to measure the time cozmo needs for a specific rotation
if (!rotationWatch.IsRunning)
{
rotationWatch = Stopwatch.StartNew();
}
// Turn right
movement.Turn(1);
}
}
private void TestMovementSpeed()
{
// If distance between start and current position of cozmo reached the DISTANCE_TO_MEASURE_SPEED stop the stopwatch
if (Vector3.Distance(startPositionCozmo, movement.transform.position) >= DISTANCE_TO_MEASURE_SPEED)
{
if (movementWatch.IsRunning)
{
movementWatch.Stop();
UnityEngine.Debug.Log("Cozmo: " + gameObject.name +
"/nElapsed time in milliseconds (Movement): " + movementWatch.ElapsedMilliseconds);
}
return;
}
else
{
// Start stopwatch to measure the time cozmo needs for a specific distance
if (!movementWatch.IsRunning)
{
movementWatch = Stopwatch.StartNew();
}
// Move cozmo in forward direction
movement.Move(1);
}
}
}

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