Pascal Serrarens
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53 lines
1.9 KiB
C#
53 lines
1.9 KiB
C#
using UnityEngine;
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namespace Breitenberg {
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public class Vehicle : MonoBehaviour {
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[Header("Sensors")]
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public Sensor sensorLeft;
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public Sensor sensorRight;
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[Header("Motors")]
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public float baseSpeed = 0f; // optional forward bias
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public float gain = 5f; // motor response strength
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public bool crossWiring = false; // false = same-side wiring (excitatory); true = cross
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public float leftSpeed;
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public float rightSpeed;
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[Header("Wheels")]
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public Transform wheelLeft;
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public Transform wheelRight;
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[Header("Physics")]
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public Rigidbody rb;
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public float turnTorque = 5f; // rotational influence
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void FixedUpdate() {
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float sL = sensorLeft.output;
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float sR = sensorRight.output;
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// Wiring: same-side (default) maps sL->left motor, sR->right motor.
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// crossWiring = true maps sL->right motor (crossed).
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float leftInput = crossWiring ? sR : sL;
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float rightInput = crossWiring ? sL : sR;
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leftSpeed = baseSpeed + gain * leftInput;
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Debug.DrawRay(wheelLeft.position, wheelLeft.forward * leftSpeed, Color.magenta);
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rightSpeed = baseSpeed + gain * rightInput;
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Debug.DrawRay(wheelRight.position, wheelRight.forward * rightSpeed, Color.magenta);
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// Convert differential wheel speeds into forward force and torque.
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float forward = (leftSpeed + rightSpeed) * 0.5f;
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float rotation = (rightSpeed - leftSpeed) * 0.5f;
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// Apply forward force at center
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Vector3 force = transform.forward * forward;
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rb.AddForce(force, ForceMode.Acceleration);
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// Apply torque around Y axis
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rb.AddTorque(Vector3.down * rotation * turnTorque, ForceMode.Acceleration);
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}
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}
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} |