Change directory to subfolder UnityProject

2019-08-24 23:01:28 +02:00
parent b7c8ed212a
commit fca6388ef2
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+///-----------------------------------------------------------------
+/// Namespace: <Cozmo>
+/// Class: <CozmoMovement>
+/// Description: <Defines the possible movement of the virtual cozmo.>
+/// Author: <Tobias Hassel> Date: <29.07.2019>
+/// Notes: <>
+///-----------------------------------------------------------------
+/// 
+
+
+using UnityEngine;
+
+namespace Cozmo
+{
+    public class CozmoMovement : MonoBehaviour
+    {
+        private const string MOVEMENT_AXIS_NAME = "Vertical";   // name of the movement input axis
+        private const string TURN_AXIS_NAME = "Horizontal";     // name of the rotation input axis
+
+        [Tooltip("Determines how fast the robot is moving forward and backwards.")]
+        public float m_Speed = 12f;
+        [Tooltip("Determines how fast the robot is turning in degrees per second.")]
+        public float m_TurnSpeed = 180f;
+
+        private Rigidbody cozmoRigidbody;           // Reference to cozmos rigidbody
+        private float m_MovementInputValue;         // current input value for movement
+        private float m_TurnInputValue;             // current input value for rotation
+
+
+        private void Awake()
+        {
+            cozmoRigidbody = GetComponent<Rigidbody>();
+        }
+
+
+        private void OnEnable()
+        {
+            // When the cozmo is turned on, make sure it's not kinematic.
+            cozmoRigidbody.isKinematic = false;
+
+            // reset movement and rotation values
+            m_MovementInputValue = 0f;
+            m_TurnInputValue = 0f;
+        }
+
+
+        private void OnDisable()
+        {
+            // When the cozmo is turned off, set it to kinematic so it stops moving.
+            cozmoRigidbody.isKinematic = true;
+        }
+
+
+        private void Update()
+        {
+            // Store the value of both input axes.
+            m_MovementInputValue = Input.GetAxis(MOVEMENT_AXIS_NAME);
+            m_TurnInputValue = Input.GetAxis(TURN_AXIS_NAME);
+        }
+
+
+        private void FixedUpdate()
+        {
+            // Adjust position and rotation 
+            Move();
+            Turn();
+        }
+
+        /// <summary>
+        /// Move the cozmo forward (0 < directionValue <= 1) or backwards (0 > directionvalue >= -1)
+        /// </summary>
+        /// <param name="directionValue"></param>
+        public void Move(float directionValue)
+        {
+            // clamp directionValue to make sure its between -1 and 1
+            Mathf.Clamp(directionValue, -1, 1);
+
+            Vector3 movement = directionValue * transform.forward * m_Speed * Time.deltaTime;
+
+            // Apply this movement to the rigidbody's position.
+            cozmoRigidbody.MovePosition(cozmoRigidbody.position + movement);
+        }
+
+        /// <summary>
+        /// Move cozmo based on the input value
+        /// </summary>
+        public void Move()
+        {
+            Move(m_MovementInputValue);
+        }
+
+
+        /// <summary>
+        /// Rotate cozmo based on the input value
+        /// </summary>
+        public void Turn()
+        {
+            Turn(m_TurnInputValue);
+        }
+
+        /// <summary>
+        /// Rotate cozmo 
+        /// </summary>
+        /// <param name="turnValue"></param>
+        public void Turn(float turnValue)
+        {
+            // clamp turnValue to make sure its between -1 and 1
+            Mathf.Clamp(turnValue, -1, 1);
+
+            float turn = turnValue * m_TurnSpeed * Time.deltaTime;
+
+            // Make this into a rotation in the y axis.
+            Quaternion turnRotation = Quaternion.Euler(0f, turn, 0f);
+
+            // Apply this rotation to the rigidbody's rotation.
+            cozmoRigidbody.MoveRotation(cozmoRigidbody.rotation * turnRotation);
+        }
+
+    }
+}
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+///-----------------------------------------------------------------
+/// Namespace: <Cozmo>
+/// Class: <CozmoMovementController>
+/// Description: <Statemachine to control the movement of the virtual cozmo.>
+/// Author: <Tobias Hassel> Date: <29.07.2019>
+/// Notes: <>
+///-----------------------------------------------------------------
+/// 
+
+using System;
+using UnityEngine;
+
+namespace Cozmo
+{
+    // Different movementstates cozmo can use
+    public enum MovementState { Stop, Forward, Right, Left }
+
+    [RequireComponent(typeof(CozmoMovement))]
+    public class CozmoMovementController : MonoBehaviour
+    {
+        [Tooltip("Current MovementState of the Robot. Change this to make the robot move.")]
+        public MovementState currentMovementState = MovementState.Stop;
+
+        private CozmoMovement movement; // Movement script of the robot
+
+
+        void Start()
+        {
+            movement = GetComponent<CozmoMovement>();
+        }
+
+        private void FixedUpdate()
+        {
+            switch (currentMovementState)
+            {
+                case MovementState.Stop:
+                    movement.Move(0);
+                    break;
+                case MovementState.Forward:
+                    movement.Move(1);
+                    break;
+                case MovementState.Right:
+                    movement.Turn(1);
+                    break;
+                case MovementState.Left:
+                    movement.Turn(-1);
+                    break;
+                default:
+                    movement.Move(0);
+                    throw new ArgumentException("No real Movementstate was given. Default 'Stop' was chosen.");
+
+            }
+        }
+    }
+}
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+///-----------------------------------------------------------------
+/// Namespace: <CozmoHelpers>
+/// Class: <CozmoMovementTester>
+/// Description: <Used to measure the time for rotating and moving the virtual cozmo to copy the 
+///               real cozmos movement behaviour.>
+/// Author: <Tobias Hassel> Date: <29.07.2019>
+/// Notes: <>
+///-----------------------------------------------------------------
+/// 
+
+using Cozmo;
+using System.Diagnostics;
+using UnityEngine;
+
+namespace CozmoHelpers
+{
+    public enum TestStates { MovementSpeed, RotationSpeed } // enum to determine test scenarios
+
+    [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 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;
+
+        [Tooltip("Start and stop testing from the inspector.")]
+        public bool isTesting = false;
+
+
+        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 (isTesting)
+            {
+                if (testState == TestStates.MovementSpeed)
+                {
+                    TestMovementSpeed();
+                }
+                else if (testState == TestStates.RotationSpeed)
+                {
+                    TestRotationSpeed();
+                }
+            }
+        }
+
+        // Measure time for rotation 
+        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);
+                }
+
+                isTesting = false;
+                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);
+            }
+        }
+
+        // Measure time for movement
+        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);
+                }
+
+                isTesting = false;
+                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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