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2 Commits
574a8c742b
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7461ae1595
| Author | SHA1 | Date | |
|---|---|---|---|
| 7461ae1595 | |||
| 25edc506a0 |
@ -1,20 +1,27 @@
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using LinearAlgebra;
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namespace RoboidControl {
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public class BB2B : Thing {
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// The robot is based on a differential drive
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public class BB2B : DifferentialDrive {
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readonly DifferentialDrive drive;
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readonly TouchSensor touchLeft;
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readonly TouchSensor touchRight;
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public BB2B() : base(128) { // thingType = 128
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// The robot's propulsion is a differential drive
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drive = new();
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public BB2B(Participant owner) : base(owner) {
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this.name = "BB2B";
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this.wheelRadius = 0.032f;
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this.wheelSeparation = 0.128f;
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// Is has a touch sensor at the front left of the roboid
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touchLeft = new(drive);
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// and other one on the right
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touchRight = new(drive);
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touchLeft = new(this) {
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position = Spherical.Degrees(0.12f, -30, 0),
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orientation = new SwingTwist(-30, 0, 0)
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};
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touchRight = new(this) {
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position = Spherical.Degrees(0.12f, 30, 0),
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orientation = new SwingTwist(30, 0, 0)
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};
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}
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public override void Update(ulong currentTimeMs, bool recurse = true) {
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@ -30,7 +37,7 @@ public class BB2B : Thing {
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// When both sides are touching something, both wheels will turn backward
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// and the roboid will move backwards
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drive.SetWheelVelocity(leftWheelSpeed, rightWheelSpeed);
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this.SetWheelVelocity(leftWheelSpeed, rightWheelSpeed);
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base.Update(currentTimeMs, recurse);
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}
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@ -3,7 +3,7 @@ using RoboidControl;
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class Program {
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static void Main() {
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BB2B bb2b = new();
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BB2B bb2b = new(ParticipantUDP.Isolated());
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while (true) {
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bb2b.Update();
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73
Unity/DifferentialDrive.cs
Normal file
73
Unity/DifferentialDrive.cs
Normal file
@ -0,0 +1,73 @@
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#if UNITY_5_3_OR_NEWER
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using System.Linq;
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using UnityEngine;
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namespace RoboidControl.Unity {
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public class DifferentialDrive : Thing {
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public WheelCollider leftWheel;
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public WheelCollider rightWheel;
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/// <summary>
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/// Create the Unity representation
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/// </summary>
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/// <param name="core">The core touch sensor</param>
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/// <returns>The Unity representation of the touch sensor</returns>
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public static DifferentialDrive Create(RoboidControl.DifferentialDrive core) {
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GameObject prefab = (GameObject)Resources.Load("DifferentialDrive");
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if (prefab != null) {
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// Use resource prefab when available
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GameObject gameObj = Instantiate(prefab);
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DifferentialDrive component = gameObj.GetComponent<DifferentialDrive>();
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if (component != null)
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component.core = core;
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return component;
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}
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else {
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// Fallback implementation
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GameObject gameObj = new(core.name);
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DifferentialDrive component = gameObj.AddComponent<DifferentialDrive>();
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component.Init(core);
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Rigidbody rb = gameObj.AddComponent<Rigidbody>();
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rb.isKinematic = false;
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rb.mass = 0.5f;
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return component;
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}
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}
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protected override void HandleBinary() {
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RoboidControl.DifferentialDrive coreDrive = core as RoboidControl.DifferentialDrive;
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if (leftWheel == null) {
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GameObject leftWheelObj = new GameObject("Left wheel");
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leftWheelObj.transform.SetParent(this.transform);
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leftWheel = leftWheelObj.AddComponent<WheelCollider>();
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leftWheel.mass = 0.1f;
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leftWheel.suspensionDistance = 0.01f;
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leftWheel.suspensionSpring = new JointSpring {
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spring = 100f, // Very high spring value to make it rigid
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damper = 10f, // Low damping (could be adjusted for slight 'bounciness')
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targetPosition = 0.5f // Neutral position (middle of the suspension travel)
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};
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}
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leftWheel.radius = coreDrive.wheelRadius;
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leftWheel.center = new Vector3(-coreDrive.wheelSeparation / 2, 0, 0);
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if (rightWheel == null) {
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GameObject rightWheelObj = new GameObject("Right wheel");
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rightWheelObj.transform.SetParent(this.transform);
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rightWheel = rightWheelObj.AddComponent<WheelCollider>();
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rightWheel.mass = 0.1f;
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rightWheel.suspensionDistance = 0.01f;
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rightWheel.suspensionSpring = new JointSpring {
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spring = 100f, // Very high spring value to make it rigid
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damper = 10f, // Low damping (could be adjusted for slight 'bounciness')
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targetPosition = 0.5f // Neutral position (middle of the suspension travel)
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};
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}
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rightWheel.radius = coreDrive.wheelRadius;
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rightWheel.center = new Vector3(coreDrive.wheelSeparation / 2, 0, 0);
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}
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}
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}
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#endif
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@ -24,15 +24,21 @@ namespace RoboidControl.Unity {
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}
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}
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private void HandleThingEvent(RoboidControl.Participant.UpdateEvent e) {
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protected virtual void HandleThingEvent(RoboidControl.Participant.UpdateEvent e) {
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switch (e.thing) {
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case RoboidControl.TouchSensor coreTouchSensor:
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TouchSensor touchSensor = TouchSensor.Create(coreTouchSensor);
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coreTouchSensor.component = touchSensor;
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break;
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case RoboidControl.DifferentialDrive coreDrive:
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DifferentialDrive differentialDrive = DifferentialDrive.Create(coreDrive);
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coreDrive.component = differentialDrive;
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break;
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case RoboidControl.Thing coreThing:
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if (coreThing.component != null) {
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Thing thing = Thing.Create(coreThing);
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coreThing.component = thing;
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}
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break;
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}
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}
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315
Unity/Resources/DifferentialDrive.prefab
Normal file
315
Unity/Resources/DifferentialDrive.prefab
Normal file
@ -0,0 +1,315 @@
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|
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spring: 100
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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m_ProvidesContacts: 0
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--- !u!135 &5884202444353424411
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SphereCollider:
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m_Radius: 0.01
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m_Center: {x: 0, y: 0, z: 0}
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@ -42,7 +42,8 @@ namespace RoboidControl.Unity {
|
||||
participant.coreParticipant = e.participant;
|
||||
break;
|
||||
case ThingMsg.id:
|
||||
e.thing.CreateComponent();
|
||||
HandleThingEvent(e);
|
||||
//e.thing.CreateComponent();
|
||||
break;
|
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}
|
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}
|
||||
|
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@ -48,6 +48,7 @@ namespace RoboidControl.Unity {
|
||||
protected void Init(RoboidControl.Thing core) {
|
||||
this.core = core;
|
||||
this.participant = FindAnyObjectByType<SiteServer>();
|
||||
core.owner = this.participant.coreParticipant;
|
||||
if (core.parent != null && core.parent.component != null)
|
||||
this.transform.SetParent(core.parent.component.transform, false);
|
||||
|
||||
@ -105,6 +106,9 @@ namespace RoboidControl.Unity {
|
||||
if (core.angularVelocity.distance == 0)
|
||||
this.transform.localRotation = core.orientation.ToQuaternion();
|
||||
break;
|
||||
case BinaryMsg.Id:
|
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this.HandleBinary();
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
@ -143,6 +147,7 @@ namespace RoboidControl.Unity {
|
||||
}
|
||||
}
|
||||
|
||||
protected virtual void HandleBinary() {}
|
||||
|
||||
}
|
||||
|
||||
|
||||
@ -36,9 +36,18 @@ namespace RoboidControl.Unity {
|
||||
/// <param name="core">The core touch sensor</param>
|
||||
/// <returns>The Unity representation of the touch sensor</returns>
|
||||
public static TouchSensor Create(RoboidControl.TouchSensor core) {
|
||||
GameObject gameObj = core.name != null ?
|
||||
new(core.name) :
|
||||
new("Touch Sensor");
|
||||
GameObject prefab = (GameObject)Resources.Load("TouchSensor");
|
||||
if (prefab != null) {
|
||||
// Use resource prefab when available
|
||||
GameObject gameObj = Instantiate(prefab);
|
||||
TouchSensor component = gameObj.GetComponent<TouchSensor>();
|
||||
if (component != null)
|
||||
component.core = core;
|
||||
return component;
|
||||
}
|
||||
else {
|
||||
// Fallback implementation
|
||||
GameObject gameObj = new(core.name);
|
||||
TouchSensor component = gameObj.AddComponent<TouchSensor>();
|
||||
component.Init(core);
|
||||
|
||||
@ -48,23 +57,8 @@ namespace RoboidControl.Unity {
|
||||
SphereCollider collider = gameObj.AddComponent<SphereCollider>();
|
||||
collider.radius = 0.01f;
|
||||
collider.isTrigger = true;
|
||||
|
||||
if (gameObj.transform.parent != null && gameObj.transform.localPosition.magnitude > 0) {
|
||||
collider.radius = Vector3.Distance(gameObj.transform.position, gameObj.transform.parent.position) / 2;
|
||||
gameObj.transform.position = (gameObj.transform.position + gameObj.transform.parent.position) / 2;
|
||||
}
|
||||
|
||||
return component;
|
||||
}
|
||||
|
||||
protected override void Update() {
|
||||
base.Update();
|
||||
if (touchCollider.radius == 0.01f &&
|
||||
this.transform.parent != null && this.transform.localPosition.magnitude > 0
|
||||
) {
|
||||
touchCollider.radius = Vector3.Distance(this.transform.position, this.transform.parent.position) / 2;
|
||||
this.transform.position = (this.transform.position + this.transform.parent.position) / 2;
|
||||
}
|
||||
}
|
||||
|
||||
private void OnTriggerEnter(Collider other) {
|
||||
|
||||
@ -117,16 +117,7 @@ namespace RoboidControl {
|
||||
Console.WriteLine($"{this.name}: Process thing [{msg.networkId}/{msg.thingId}] {msg.thingType} {msg.parentId} ");
|
||||
|
||||
Thing thing = sender.Get(msg.thingId);
|
||||
if (thing == null) {
|
||||
switch (msg.thingType) {
|
||||
case (byte)Thing.Type.TouchSensor:
|
||||
new TouchSensor(sender, msg.thingId);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (thing == null)
|
||||
thing = new Thing(sender, msg.thingType, msg.thingId);
|
||||
thing ??= ProcessNewThing(sender, msg);
|
||||
|
||||
if (msg.parentId != 0) {
|
||||
thing.parent = sender.Get(msg.parentId);
|
||||
@ -139,6 +130,14 @@ namespace RoboidControl {
|
||||
}
|
||||
}
|
||||
|
||||
protected virtual Thing ProcessNewThing(Participant sender, ThingMsg msg) {
|
||||
return msg.thingType switch {
|
||||
Thing.Type.TouchSensor => new TouchSensor(sender, msg.thingId),
|
||||
Thing.Type.DifferentialDrive => new DifferentialDrive(sender, msg.thingId),
|
||||
_ => new Thing(sender, msg.thingType, msg.thingId),
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endregion Receive
|
||||
|
||||
|
||||
@ -17,7 +17,19 @@ namespace RoboidControl {
|
||||
/// <param name="owner">The owning participant</param>
|
||||
/// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
|
||||
/// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
|
||||
public DifferentialDrive(Participant participant, byte thingId = 0, bool invokeEvent = true) : base(participant, Type.DifferentialDrive, thingId, invokeEvent) { }
|
||||
public DifferentialDrive(Participant owner, byte thingId = 0, bool invokeEvent = true) : base(owner, Type.DifferentialDrive, thingId, invokeEvent) {
|
||||
Thing leftWheel = new(this) {
|
||||
name = "Left Wheel"
|
||||
};
|
||||
Thing rightWheel = new(this) {
|
||||
name = "Right Wheel"
|
||||
};
|
||||
SetMotors(leftWheel, rightWheel);
|
||||
sendBinary = true;
|
||||
owner.Send(new BinaryMsg(owner.networkId, this));
|
||||
this.updateQueue.Enqueue(new UpdateEvent(BinaryMsg.Id));
|
||||
|
||||
}
|
||||
/// <summary>
|
||||
/// Create a new child differential drive
|
||||
/// </summary>
|
||||
@ -92,17 +104,43 @@ namespace RoboidControl {
|
||||
}
|
||||
|
||||
/// @brief The radius of a wheel in meters
|
||||
protected float wheelRadius = 1.0f;
|
||||
public float wheelRadius = 1.0f;
|
||||
/// @brief The distance between the wheels in meters
|
||||
protected float wheelSeparation = 1.0f;
|
||||
public float wheelSeparation = 1.0f;
|
||||
|
||||
/// @brief Convert revolutions per second to meters per second
|
||||
protected float rpsToMs = 1.0f;
|
||||
|
||||
/// @brief The left wheel
|
||||
protected Thing leftWheel = null;
|
||||
public Thing leftWheel = null;
|
||||
/// @brief The right wheel
|
||||
protected Thing rightWheel = null;
|
||||
public Thing rightWheel = null;
|
||||
|
||||
bool sendBinary = false;
|
||||
public override byte[] GenerateBinary() {
|
||||
if (!sendBinary)
|
||||
return System.Array.Empty<byte>();
|
||||
|
||||
byte[] data = new byte[6];
|
||||
byte ix = 0;
|
||||
data[ix++] = leftWheel.id;
|
||||
data[ix++] = rightWheel.id;
|
||||
LowLevelMessages.SendFloat16(data, ref ix, wheelRadius);
|
||||
LowLevelMessages.SendFloat16(data, ref ix, wheelSeparation);
|
||||
sendBinary = false;
|
||||
return data;
|
||||
}
|
||||
|
||||
public override void ProcessBinary(byte[] data) {
|
||||
byte ix = 0;
|
||||
byte leftWheelId = data[ix++];
|
||||
this.leftWheel = this.owner.Get(leftWheelId);
|
||||
byte rightWheelId = data[ix++];
|
||||
this.rightWheel = this.owner.Get(rightWheelId);
|
||||
this.wheelRadius = LowLevelMessages.ReceiveFloat16(data, ref ix);
|
||||
this.wheelSeparation = LowLevelMessages.ReceiveFloat16(data, ref ix);
|
||||
this.updateQueue.Enqueue(new UpdateEvent(BinaryMsg.Id));
|
||||
}
|
||||
};
|
||||
|
||||
} // namespace RoboidControl
|
||||
@ -24,7 +24,9 @@ namespace RoboidControl {
|
||||
/// <param name="parent">The parent thing</param>
|
||||
/// <param name="thingId">The ID of the thing, leave out or set to zero to generate an ID</param>
|
||||
/// <param name="invokeEvent">Invoke a OnNewThing event when the thing has been created</param>
|
||||
public TouchSensor(Thing parent, byte thingId = 0, bool invokeEvent = true) : base(parent, Type.TouchSensor, thingId, invokeEvent) { }
|
||||
public TouchSensor(Thing parent, byte thingId = 0, bool invokeEvent = true) : base(parent, Type.TouchSensor, thingId, invokeEvent) {
|
||||
this.name = "TouchSensor";
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Value which is true when the sensor is touching something, false otherwise
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user