ict.shenzhi/Assets/Scripts/ROBOT/HVBUSSERVO.cs

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.Accessibility;
using DG.Tweening;
using System;
using System.Linq;
using static Kirurobo.FilePanel;

/// <summary>
/// 伺服电机
/// </summary>
[ExecuteInEditMode]
public class HVBUSSERVO : MonoBehaviour
{
    /// <summary>
    /// 电机编号
    /// </summary>
    public int indexNo;

    /// <summary>
    /// 电机轴
    /// </summary>
    public Vector3 RotAxis;

    /// <summary>
    /// 电机角度最小范围
    /// </summary>
    public float RotMin = -360;
    /// <summary>
    /// 电机角度最大范围
    /// </summary>
    public float RotMax = 360;

    public bool PhysicAngLimit;
    public float MinPhysicAng, MaxPhysicAng;

    /// <summary>
    /// 当前电机角度
    /// </summary>
    [SerializeField]
    public float TransformRotAngle;
    float rotAngs = -360;

    /// <summary>
    /// 角度与千数值转换
    /// </summary>
    [SerializeField, Range(0, 1000)]
    public float ThousandNormalizedValue;
    float normalizedValues = -1;

    bool ismirrored;
    /// <summary>
    /// 镜像电机
    /// </summary>
    public static List<int> mirror = new List<int>() { 4, 5, 10, 11, 16 };
    private void OnEnable()
    {
        var no = int.Parse(name.Split('_')[name.Split('_').Length - 1]);
        if (no != indexNo)
        {
            indexNo = no;
        }
        ismirrored = mirror.Contains(indexNo);
    }

    // Start is called before the first frame update
    void Start()
    {
        if (Test())
        {
            Debug.Log("startssss");
            normalizedValues = ThousandNormalizedValue;
            rotAngs = TransformRotAngle;
        }
    }

    public bool Test()
    {
        return true;
        return indexNo == 5;
    }

    // Update is called once per frame
    void Update()
    {
        //if (TransformRotAngle == TransformRotAngle)
        //{
        //    transform.localEulerAngles = RotAxis * TransformRotAngle;
        //}
        if (Test())
        {
            //实时更新角度
            if (TransformRotAngle == TransformRotAngle)
            {
                transform.localEulerAngles = RotAxis * (PhysicAngLimit ? Mathf.Clamp(TransformRotAngle, MinPhysicAng, MaxPhysicAng) : TransformRotAngle);
            }

            if (!ismirrored)
            {
                //角度转换为归一化数值
                if (rotAngs != TransformRotAngle)
                {
                    normalizedValues = ThousandNormalizedValue = (TransformRotAngle - RotMin) / (RotMax - RotMin) * 1000;
                    rotAngs = TransformRotAngle;
                }

                //归一化数值转换为角度
                if (normalizedValues != ThousandNormalizedValue)
                {
                    rotAngs = TransformRotAngle = ThousandNormalizedValue / 1000 * (RotMax - RotMin) + RotMin;
                    normalizedValues = ThousandNormalizedValue;
                }
            }
            else
            //镜像操作
            {
                //归一化数值转换为角度
                if (normalizedValues != ThousandNormalizedValue)
                {
                    rotAngs = TransformRotAngle = (1000 - ThousandNormalizedValue) / 1000 * (RotMax - RotMin) + RotMin;
                    normalizedValues = ThousandNormalizedValue;
                }

                //角度转换为归一化数值
                if (rotAngs != TransformRotAngle)
                {
                    normalizedValues = ThousandNormalizedValue = 1000 - ((TransformRotAngle - RotMin) / (RotMax - RotMin) * 1000);
                    rotAngs = TransformRotAngle;
                }
            }
        }
    }

    /// <summary>
    /// 更新电机值
    /// </summary>
    /// <param name="target_value"></param>
    /// <param name="duration"></param>
    /// <param name="flag">是否更新ui的值</param>
    public void UpdateValue(int target_value, float duration, bool flag = false,Action callback=null)
    {
        if (flag)
        {

            DOTween.To(() => ThousandNormalizedValue, x => ThousandNormalizedValue = x, target_value, duration).OnUpdate(() =>
            {
                for (int i = 0; i < CustomPanel.instance.items.Count; i++)
                {
                    if (CustomPanel.instance.items[i].id == indexNo && CustomPanel.instance.items[i].sliderOne.value != target_value)
                    {

                        CustomPanel.instance.items[i].ValueChange(ThousandNormalizedValue, target_value);

                    }
                }

            });
        }
        else
        {
            DOTween.To(() => ThousandNormalizedValue, x => ThousandNormalizedValue = x, target_value, duration).OnComplete(() => 
            {
                if(callback!=null)
                {
                    callback.Invoke();
                }
            });
        }

    }
}