*

2025-05-13 03:26:56 +03:00
parent 87a14db6f4
commit 154af64dde
563 changed files with 797817 additions and 0 deletions
@@ -0,0 +1,106 @@
+using UnityEngine;
+using System.Collections;
+using System.IO.Ports;
+using System;
+
+public class QuadcoperClient : MonoBehaviour {
+    private SerialPort port;
+    public string portName = "COM5";
+    private bool _stream = false;
+
+    private int[] motor_speeds = new int[4];
+
+    // Use this for initialization
+    void Start() {
+        Connect();
+    }
+
+    // Update is called once per frame
+    void Update() {
+        if (port != null && port.IsOpen)
+        {
+           // UpdateOrientation();
+        }
+    }
+
+    void Connect() {
+        port = new SerialPort(portName);
+        port.BaudRate = 1500000;
+        port.Open();
+        port.ReadTimeout = SerialPort.InfiniteTimeout;
+    }
+
+    void Disconnect() {
+        port.Close();
+    }
+
+    static Quaternion AccelerationToOrientation(Vector3 acceleration)
+    {
+        acceleration.x = -acceleration.x;
+        acceleration.z = -acceleration.z;
+        if (Vector3.Dot(acceleration.normalized, Vector3.up) > 0.9999f){
+            return Quaternion.identity;
+        }
+        return Quaternion.FromToRotation(Vector3.up, acceleration);
+    }
+
+    public void SetMotorSpeed(byte motor, byte speed) {
+        port.ExecuteCommand(UartCommand.Create(uart_commands.motor_write).Write<byte>(motor).Write<byte>(speed));
+    }
+
+    public Vector3 ReadAccelerometer() {
+        var response = port.ExecuteCommand(UartCommand.Create(uart_commands.acc_read));
+        var result = response.CreateReader().Read<Vector3>();
+        return new Vector3(result.x, result.z, result.y);
+    }
+
+    void SyncTransform()
+    {
+        transform.localRotation = AccelerationToOrientation(ReadAccelerometer());
+    }
+
+    void OnGUI() {
+
+        for (int i = 0; i < 4; ++i)
+        {
+            var new_speed = (int)GUI.HorizontalSlider(new Rect(10, 10 + 30 * i, 300, 30), motor_speeds[i], 0, 100);
+            if (new_speed != motor_speeds[i]) {
+                motor_speeds[i] = new_speed;
+                SetMotorSpeed((byte)i, (byte)new_speed);
+            }
+        }
+
+        if (GUILayout.Button("Play sound"))
+        {
+            port.ExecuteCommand(UartCommand.Create(uart_commands.play_sound));
+        }
+
+        if (GUI.Button(new Rect(400, 10, 150, 30), "Read accelerometer"))
+        {
+            Debug.Log(ReadAccelerometer());
+            SyncTransform();
+        }
+
+        if (_stream)
+        {
+            if (GUI.Button(new Rect(10, 130, 150, 30), "Stop stream"))
+            {
+                _stream = false;
+            }
+        } else {
+            if (GUI.Button(new Rect(10, 130, 150, 30), "Start stream")) {
+                _stream = true;
+            }
+        }
+
+        if (_stream)
+        {
+            SyncTransform();
+        }
+
+    }
+
+    void OnDestroy() {
+        Disconnect();
+    }
+}