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PatrickRungPatrickRung
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Aruco command (#28)
* add aruco marker to scene * new arm structure * add linkage models * add joint rotation * git ignore * update parallel motion for arm * add arm position updating * angles match desmos sim * add implementation for back and front linkage movement * add bottom bracket * cleanup original scene * set default simulator nodes to be invisible * better position calc (short for calculation) and angle limits * basic min and max angle limit switch changing based on distance between beams * the relationship between the max and min angles was in face linear * new arm sim join meshes * finish adaptable linkage arm and set the parameters to the actual measurements given by arm team * fix comments * fix cam location * add aruco visibility toggle command * changes for arm implement branch * fix everything * remove logs
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‎Assets/Scenes/Simulator.unity‎

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‎Assets/Scripts/CommandRegisterer.cs‎

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Original file line numberDiff line numberDiff line change
@@ -10,6 +10,8 @@ public class CommandRegisterer : MonoBehaviour
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{
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[SerializeField]
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private Rover _rover;
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[SerializeField]
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private GameObject arucoMarker;
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private IList<Command> _commands;
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private void OnEnable()
@@ -19,7 +21,8 @@ private void OnEnable()
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new Command("run", RunMotor),
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new Command("waypoint", GetWaypoint),
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new Command("waypoints", ListWaypoints),
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new Command("help", PrintInstructions)
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new Command("help", PrintInstructions),
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new Command("toggleAruco", toggleAruco)
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};
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foreach (Command command in _commands)
@@ -46,6 +49,7 @@ private void PrintInstructions(string[] args)
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SimulatorConsole.WriteLine("reset: Reloads the scene");
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SimulatorConsole.WriteLine("waypoints: Lists all waypoints");
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SimulatorConsole.WriteLine("waypoint <name>: Copies GPS coordinates of waypoint");
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SimulatorConsole.WriteLine("toggleAruco: Toggle Aruco marker visibility");
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}
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/// <summary>
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{
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foreach (Transform child in GameObject.Find("Waypoints").transform)
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{
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double[] GPS = Utilities.metersToGPS(new double[] {child.transform.position.z, child.transform.position.x});
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double[] GPS = Utilities.metersToGPS(new double[] { child.transform.position.z, child.transform.position.x });
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string lat = GPS[0].ToString("0." + new string('#', 8));
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string lon = GPS[1].ToString("0." + new string('#', 8));
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SimulatorConsole.WriteLine(child.name + "->(lat:" + lat + ", lon:" + lon + ")");
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}
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}
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}
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// Turns on the visibility for the ArUco Marker Gate 1 object
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private void toggleAruco(string[] args)
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{
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if (arucoMarker != null)
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{
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if (arucoMarker.activeSelf)
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{
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arucoMarker.SetActive(false);
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}
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else
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{
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arucoMarker.SetActive(true);
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}
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}
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else
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{
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SimulatorConsole.WriteLine("No ArUco Marker Gate 1 in world!");
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}
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}
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}

‎Assets/Scripts/PowerDrivenMotor.cs‎

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Original file line numberDiff line numberDiff line change
@@ -59,6 +59,7 @@ private void UpdatePower()
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private void UpdatePosition()
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{
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float speed = Mode switch
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{
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RunMode.RunToPosition => _closedLoopSpeed,

‎Assets/Scripts/ShoulderMotor.cs‎

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Original file line numberDiff line numberDiff line change
@@ -64,7 +64,6 @@ protected override void Render()
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topFrontNode.transform.localPosition = new Vector3(topFrontNode.transform.localPosition.x,
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height * Mathf.Cos(elbowMotor.transform.localEulerAngles.x * Mathf.Deg2Rad),
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height * Mathf.Sin(elbowMotor.transform.localEulerAngles.x * Mathf.Deg2Rad));
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bottomBackNode.transform.localPosition = new Vector3(bottomBackNode.transform.localPosition.x,
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bottomFrontNode.transform.localPosition.y + (width * Mathf.Sin(transform.localEulerAngles.x * Mathf.Deg2Rad)),
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bottomFrontNode.transform.localPosition.z - (width * Mathf.Cos(transform.localEulerAngles.x * Mathf.Deg2Rad)));

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