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- /*
- © Siemens AG, 2017-2018
- Author: Dr. Martin Bischoff (martin.bischoff@siemens.com)
- Licensed under the Apache License, Version 2.0 (the "License");
- you may not use this file except in compliance with the License.
- You may obtain a copy of the License at
- <http://www.apache.org/licenses/LICENSE-2.0>.
- Unless required by applicable law or agreed to in writing, software
- distributed under the License is distributed on an "AS IS" BASIS,
- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- See the License for the specific language governing permissions and
- limitations under the License.
- */
- using UnityEngine;
- namespace RosSharp.RosBridgeClient
- {
- [RequireComponent(typeof(HingeJoint))]
- public class JoyAxisJointMotorWriter : JoyAxisWriter
- {
- public float MaxVelocity;
- private HingeJoint _hingeJoint;
- private JointMotor jointMotor;
- private float targetVelocity;
- private bool isMessageReceived;
- private void Start()
- {
- _hingeJoint = GetComponent<HingeJoint>();
- _hingeJoint.useMotor = true;
- }
- private void Update()
- {
- if (isMessageReceived)
- ProcessMessage();
- }
- private void ProcessMessage()
- {
- jointMotor = _hingeJoint.motor;
- jointMotor.targetVelocity = targetVelocity;
- _hingeJoint.motor = jointMotor;
- isMessageReceived = false;
- }
- public override void Write(float value)
- {
- targetVelocity = value * MaxVelocity;
- isMessageReceived = true;
- }
- }
- }
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