Added health to the robot. Capped robot acceleration and tweaked dyna…

…mics.
SoonerRobotics · Apr 18, 2020 · c43cd73 · c43cd73
1 parent 01e4248
commit c43cd73
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Showing 18 changed files with 232 additions and 53 deletions.
diff --git a/Unity/Assets/Graphics.meta b/Unity/Assets/Graphics.meta
diff --git a/Unity/Assets/Prefabs/CoronaObstacle.prefab b/Unity/Assets/Prefabs/CoronaObstacle.prefab
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diff --git a/Unity/Assets/Prefabs/CylinderObstacle.prefab b/Unity/Assets/Prefabs/CylinderObstacle.prefab
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@@ -45,7 +45,7 @@ GameObject:
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diff --git a/Unity/Assets/Prefabs/SphereObstacle.prefab b/Unity/Assets/Prefabs/SphereObstacle.prefab
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diff --git a/Unity/Assets/Prefabs/WallObstacle.prefab b/Unity/Assets/Prefabs/WallObstacle.prefab
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diff --git a/Unity/Assets/RosSharpModules/ControlSubscriber.cs b/Unity/Assets/RosSharpModules/ControlSubscriber.cs
@@ -1,4 +1,5 @@
-using UnityEngine;
+using System.Threading;
+using UnityEngine;
 
 namespace RosSharp.RosBridgeClient.MessageTypes.swc_msgs
 {
@@ -7,17 +8,26 @@ public class ControlSubscriber : UnitySubscriber<Control>
     {
         private AckermannController car;
 
+        private Control lastMessage;
+
         private float angleNoiseStdDev = 0.4f;
         private float powerNoiseStdDev = 0.1f;
 
         private bool firstMessage = true;
         private bool begingame = false;
+        private bool newMessage = false;
         private float startTime = 100000;
 
         protected override void Start()
         {
-            if (ConfigLoader.simulator.ManualControl)
-                return;
+            base.Start();
+            car = GetComponent<AckermannController>();
+            lastMessage = new Control();
+            startTime = Time.realtimeSinceStartup;
+
+            if (ConfigLoader.simulator.ManualControl) {
+                this.enabled = false;
+            }
 
             switch (ConfigLoader.competition.NoiseLevel) {
                 case ConfigLoader.CompetitionConfig.NoiseLevels.none:
@@ -30,10 +40,6 @@ protected override void Start()
                     break;
             }
 
-            base.Start();
-            car = GetComponent<AckermannController>();
-            startTime = Time.realtimeSinceStartup;
-
             if (!ConfigLoader.simulator.CompetitionMode) {
                 // Don't care about the stopsim stuff
                 begingame = false;
@@ -43,20 +49,26 @@ protected override void Start()
         }
 
         private void FixedUpdate() {
+            if (newMessage) {
+                car.SetControl(lastMessage.speed + SimUtils.getRandNormal(0, powerNoiseStdDev), lastMessage.turn_angle + SimUtils.getRandNormal(0, angleNoiseStdDev));
+                newMessage = false;
+            }
+
             if (begingame)
             {
                 begingame = false;
                 GameManager.instance.StartSim();
             }
+
             if (firstMessage && !begingame && Time.realtimeSinceStartup - startTime >= 30) {
                 GameManager.instance.StopSim("Did not start in 30 seconds!");
             }
         }
 
         protected override void ReceiveMessage(Control control)
         {
-            car.CntrlAngle = control.turn_angle + SimUtils.getRandNormal(0, angleNoiseStdDev);
-            car.CntrlPower = control.speed + SimUtils.getRandNormal(0, powerNoiseStdDev);
+            lastMessage = control;
+            newMessage = true;
 
             if (firstMessage)
             {

diff --git a/Unity/Assets/Scenes/Loading.unity b/Unity/Assets/Scenes/Loading.unity
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diff --git a/Unity/Assets/Scenes/MainScene.unity b/Unity/Assets/Scenes/MainScene.unity
@@ -668,7 +668,6 @@ GameObject:
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@@ -678,6 +677,8 @@ GameObject:
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+  - component: {fileID: 829615088}
+  - component: {fileID: 829615098}
   m_Layer: 0
   m_Name: Robot
   m_TagString: Untagged
@@ -726,8 +727,6 @@ MonoBehaviour:
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   robotCamera: {fileID: 1822220454}
   ManualTopSpeed: 1
-  CntrlAngle: 0
-  CntrlPower: 0
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