Add CozmoMovementTest script to find out rotation and movement speed in the simulation
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@ -4,17 +4,17 @@ using UnityEngine;
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public class CozmoMovement : MonoBehaviour
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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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{
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@ -43,9 +43,9 @@ public class CozmoMovement : MonoBehaviour
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private void Start()
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{
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// The axes names are based on player number.
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m_MovementAxisName = "Vertical";
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m_TurnAxisName = "Horizontal";
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m_MovementAxisName = "Vertical";
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m_TurnAxisName = "Horizontal";
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}
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@ -53,9 +53,9 @@ public class CozmoMovement : MonoBehaviour
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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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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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@ -64,21 +64,34 @@ public class CozmoMovement : MonoBehaviour
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Turn();
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}
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private void Move()
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public void Move(float directionValue)
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{
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// Create a vector in the direction the tank is facing with a magnitude based on the input, speed and the time between frames.
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Vector3 movement = transform.forward * m_MovementInputValue * m_Speed * Time.deltaTime;
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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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private void Turn()
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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 = m_TurnInputValue * m_TurnSpeed * Time.deltaTime;
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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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105
Assets/Scripts/Movemnet/CozmoMovementTester.cs
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105
Assets/Scripts/Movemnet/CozmoMovementTester.cs
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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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using System.Diagnostics;
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using UnityEngine;
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public enum TestStates { MovementSpeed, RotationSpeed }
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[RequireComponent(typeof(CozmoMovement))]
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public class CozmoMovementTester : MonoBehaviour
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{
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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 float curAngleX = 0; // Current angle in the x axis 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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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 (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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private void TestRotationSpeed()
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{
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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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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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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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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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11
Assets/Scripts/Movemnet/CozmoMovementTester.cs.meta
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11
Assets/Scripts/Movemnet/CozmoMovementTester.cs.meta
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