using System; using Controller.Bicycle; using Sensors; using Sensors.ANT; using Sensors.Polar; using Tracking; using UnityEngine; using UnityEngine.Serialization; namespace Controller { [Serializable] public struct PolarRotationMapping { public float maxRight; public float center; } [Serializable] public struct FrontWheelTrackerConfig { public FrontWheelTracker frontWheelTracker; public float multiplicator; public float AdjustedRotation => frontWheelTracker.SteerRotation * multiplicator; } [RequireComponent(typeof(IBicycleController))] public class SensorBikeController : MonoBehaviour { public PolarRotationMapping polarRotationMapping; public SpeedSensorConfig speedSensorConfig; public PolarSensorConfig polarSensorConfig; public FrontWheelTrackerConfig frontWheelTrackerConfig; public bool steer = true; public bool accelerate = true; public bool lean = true; private IBicycleController bicycleController; private BikeSensorData sensorData; private float leanFactor; private bool isFrontWheelTrackerNotNull; private async void Start() { isFrontWheelTrackerNotNull = frontWheelTrackerConfig.frontWheelTracker != null; bicycleController = GetComponent(); sensorData = BikeSensorData.Instance; await sensorData.StartListening(polarSensorConfig: polarSensorConfig, speedSensorConfig: speedSensorConfig); leanFactor = 90f / (polarRotationMapping.maxRight - polarRotationMapping.center); } private void Update() { var speedData = sensorData.SpeedData; var polarData = sensorData.PolarData; if (speedData != null && accelerate) { SetSpeed(speedData.Value); } if (isFrontWheelTrackerNotNull && steer) { SetSteer(); } if (polarData != null && lean) { SetLeaningAngle(polarData.Value); } } private void SetSteer() { bicycleController.CurrentSteerAngle = frontWheelTrackerConfig.AdjustedRotation; } private void OnDestroy() { sensorData?.Dispose(); } private void SetLeaningAngle(PolarSensorData polarData) { bicycleController.CurrentLeaningAngle = (polarData.Acc.y - polarRotationMapping.center) * leanFactor; } private void SetSpeed(SpeedSensorData speedData) { bicycleController.CurrentSpeed = speedData.Speed; } } }