Digital Manufacturing MET0340 / Tartu / Spring 2021

// Course Moodle link: https://moodle.taltech.ee/course/view.php?id=30786
//
// Package with robot model: https://moodle.taltech.ee/mod/resource/view.php?id=267745
// Package with project from the first week: https://moodle.taltech.ee/mod/resource/view.php?id=359501
// Package with Vuforia AR markers: https://moodle.taltech.ee/mod/resource/view.php?id=361128
// AR image target file: https://moodle.taltech.ee/mod/resource/view.php?id=361150
//
// Vuforia developer portal: https://developer.vuforia.com/



// Vuforia developer license key

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// RobotController script

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class RobotController : MonoBehaviour
{
    [System.Serializable]
    public class RobotJoint
    {
        public Transform joint;
        public float speed = 60f;
        public float minAngle = -90f;
        public float maxAngle = 90f;
        public float currentAngle = 0f;
    }

    public float speed = 45f;
    public List<RobotJoint> robotJoints = new List<RobotJoint>();
    public int selectedJointIndex = 0;

    private bool isUiIncreasingJointAngle = false;
    private bool isUiDecreasingJointAngle = false;

    private RobotJoint SelectedRobotJoint => robotJoints[selectedJointIndex];

    // Update is called once per frame
    void Update()
    {
        float angleDelta = 0;

        // Apply inputs
        angleDelta = ProcessKeyInputs(angleDelta);
        angleDelta = ProcessUiInputs(angleDelta);

        // Apply limits
        angleDelta = ApplyJointLimits(angleDelta);

        SelectedRobotJoint.currentAngle += angleDelta;
        Vector3 rotation = new Vector3(0f, 0f, angleDelta);
        SelectedRobotJoint.joint.Rotate(rotation);
    }

    private float ProcessKeyInputs(float angleDelta)
    {
        bool leftPressed = Input.GetKey(KeyCode.LeftArrow);
        if (leftPressed)
        {
            angleDelta += speed * Time.deltaTime;
        }
        bool rightPressed = Input.GetKey(KeyCode.RightArrow);
        if (rightPressed)
        {
            angleDelta -= speed * Time.deltaTime;
        }

        bool spacePressed = Input.GetKeyDown(KeyCode.Space);
        if (spacePressed)
        {
            SelectNextJoint();
        }

        return angleDelta;
    }

    private float ProcessUiInputs(float angleDelta)
    {
        if (isUiIncreasingJointAngle)
        {
            angleDelta += speed * Time.deltaTime;
        }
        if (isUiDecreasingJointAngle)
        {
            angleDelta -= speed * Time.deltaTime;
        }

        return angleDelta;
    }

    private float ApplyJointLimits(float angleDelta)
    {
        float expectedAngle = SelectedRobotJoint.currentAngle + angleDelta;

        if (expectedAngle < SelectedRobotJoint.minAngle)
        {
            angleDelta = SelectedRobotJoint.minAngle - SelectedRobotJoint.currentAngle;
        }
        if (expectedAngle > SelectedRobotJoint.maxAngle)
        {
            angleDelta = SelectedRobotJoint.maxAngle - SelectedRobotJoint.currentAngle;
        }

        return angleDelta;
    }

    public void StartIncreasingJointAngle()
    {
        isUiIncreasingJointAngle = true;
        isUiDecreasingJointAngle = false;
    }

    public void StartDecreasingJointAngle()
    {
        isUiIncreasingJointAngle = false;
        isUiDecreasingJointAngle = true;
    }

    public void StopRobotMovement()
    {
        isUiIncreasingJointAngle = false;
        isUiDecreasingJointAngle = false;
    }

    public void SelectNextJoint()
    {
        selectedJointIndex += 1;

        if (selectedJointIndex >= robotJoints.Count)
        {
            selectedJointIndex = 0;
        }
    }
}





// Updated contents of packages.json

{
  "scopedRegistries": [
    {
      "name": "npmjs",
      "url": "https://registry.npmjs.org/",
      "scopes": [
        "io.extendreality"
      ]
    }
  ],
  "dependencies": {
    "io.extendreality.tilia.camerarigs.spatialsimulator.unity": "1.2.31",
    "io.extendreality.tilia.camerarigs.trackedalias.unity": "1.5.7",
    "io.extendreality.zinnia.unity": "1.30.0",
    "com.unity.collab-proxy": "1.2.16",
    "com.unity.ide.rider": "1.1.4",
    "com.unity.ide.vscode": "1.2.3",
    "com.unity.test-framework": "1.1.20",
    "com.unity.textmeshpro": "2.1.1",
    "com.unity.timeline": "1.2.17",
    "com.unity.ugui": "1.0.0",
    "com.unity.modules.ai": "1.0.0",
    "com.unity.modules.androidjni": "1.0.0",
    "com.unity.modules.animation": "1.0.0",
    "com.unity.modules.assetbundle": "1.0.0",
    "com.unity.modules.audio": "1.0.0",
    "com.unity.modules.cloth": "1.0.0",
    "com.unity.modules.director": "1.0.0",
    "com.unity.modules.imageconversion": "1.0.0",
    "com.unity.modules.imgui": "1.0.0",
    "com.unity.modules.jsonserialize": "1.0.0",
    "com.unity.modules.particlesystem": "1.0.0",
    "com.unity.modules.physics": "1.0.0",
    "com.unity.modules.physics2d": "1.0.0",
    "com.unity.modules.screencapture": "1.0.0",
    "com.unity.modules.terrain": "1.0.0",
    "com.unity.modules.terrainphysics": "1.0.0",
    "com.unity.modules.tilemap": "1.0.0",
    "com.unity.modules.ui": "1.0.0",
    "com.unity.modules.uielements": "1.0.0",
    "com.unity.modules.umbra": "1.0.0",
    "com.unity.modules.unityanalytics": "1.0.0",
    "com.unity.modules.unitywebrequest": "1.0.0",
    "com.unity.modules.unitywebrequestassetbundle": "1.0.0",
    "com.unity.modules.unitywebrequestaudio": "1.0.0",
    "com.unity.modules.unitywebrequesttexture": "1.0.0",
    "com.unity.modules.unitywebrequestwww": "1.0.0",
    "com.unity.modules.vehicles": "1.0.0",
    "com.unity.modules.video": "1.0.0",
    "com.unity.modules.vr": "1.0.0",
    "com.unity.modules.wind": "1.0.0",
    "com.unity.modules.xr": "1.0.0"
  }
}