Merge branch 'Add-New-Modules' of https://git.uwaterloo.ca/capstone-group2/ui into Add-New-Modules

Assets/ControlPanel.cs

@@ -5,47 +5,40 @@ using UnityEngine.UI;
 public class ControlPanel : MonoBehaviour
 {
     [Header("Core UI (assign in Inspector)")]
-    public TMP_InputField inputField;
+    public TMP_InputField inputField;          // was DegreesInputField
-    public TMP_Dropdown directionDropdown;
+    public TMP_Dropdown directionDropdown;     // was DirectionDropdown
-    public Button button; // existing Send/Rotate button in hierarchy
+    public Button button;                      // was RotateButton
 
-    private enum Mode { None, DC, Display, Speaker }
+    private enum Mode { None, DC, Display, Gripper }
     private Mode _mode = Mode.None;
 
     private DCMotorModule _dc;
     private DisplayModule _display;
-    private SpeakerModule _speaker;
+    private GripperModule _gripper;
 
+    // Keep separate inputs so they don't interfere
     private string _savedDCInput = "";
     private int _savedDirectionIndex = 0;
     private string _savedDisplayInput = "";
+    private string _savedGripperInput = "";
 
-    // Found automatically (no hierarchy edits)
+    // Found automatically (no new UI objects)
-    private TextMeshProUGUI _caption;     // child "DegreesCaption"
+    private TextMeshProUGUI _caption;          // DegreesCaption text
-    private TextMeshProUGUI _buttonText;  // child "RotateButton/Text (TMP)"
+    private TextMeshProUGUI _buttonText;       // RotateButton/Text (TMP)
-    private GameObject _directionCaptionGO;
+    private GameObject _directionCaptionGO;    // DirectionCaption
-    private GameObject _directionDropdownGO;
+    private GameObject _directionDropdownGO;   // DirectionDropdown GameObject
-
-    // Created in code (Speaker mode only)
-    private Button _uploadButton;
-    private TextMeshProUGUI _uploadButtonText;
-    private Button _playButton;
-    private TextMeshProUGUI _playButtonText;
 
     private void Awake()
     {
         CacheUIFromHierarchy();
 
-        // Create these once; hide unless Speaker mode
-        CreateUploadButtonIfNeeded();
-        CreatePlayButtonIfNeeded();
-
         if (button != null)
         {
             button.onClick.RemoveAllListeners();
-            button.onClick.AddListener(OnMainButtonClicked);
+            button.onClick.AddListener(OnButtonClicked);
         }
 
+        // Cache typed values so switching modules restores what you typed
         if (inputField != null)
         {
             inputField.onValueChanged.AddListener(_ => CacheCurrentInput());
@@ -61,17 +54,37 @@ public class ControlPanel : MonoBehaviour
         }
     }
 
+    /// <summary>
+    /// Call this whenever a DC or Display module is selected.
+    /// </summary>
     public void Initialize(ModuleBase module)
     {
         CacheCurrentInput();
 
         _dc = module as DCMotorModule;
         _display = module as DisplayModule;
-        _speaker = module as SpeakerModule;
+        _gripper = module as GripperModule;
 
-        if (_dc != null) { SwitchMode(Mode.DC); gameObject.SetActive(true); return; }
+        if (_dc != null)
-        if (_display != null) { SwitchMode(Mode.Display); gameObject.SetActive(true); return; }
+        {
-        if (_speaker != null) { SwitchMode(Mode.Speaker); gameObject.SetActive(true); return; }
+            SwitchMode(Mode.DC);
+            gameObject.SetActive(true);
+            return;
+        }
+
+        if (_display != null)
+        {
+            SwitchMode(Mode.Display);
+            gameObject.SetActive(true);
+            return;
+        }
+
+        if (_gripper != null)
+        {
+            SwitchMode(Mode.Gripper);
+            gameObject.SetActive(true);
+            return;
+        }
 
         HidePanel();
     }
@@ -83,13 +96,12 @@ public class ControlPanel : MonoBehaviour
         _mode = Mode.None;
         _dc = null;
         _display = null;
-        _speaker = null;
+        _gripper = null;
-        SetUploadVisible(false);
-        SetPlayVisible(false);
     }
 
     private void CacheUIFromHierarchy()
     {
+        // Assumes this script is on the parent that contains these children
         var captionT = transform.Find("DegreesCaption");
         if (captionT != null) _caption = captionT.GetComponent<TextMeshProUGUI>();
 
@@ -110,78 +122,47 @@ public class ControlPanel : MonoBehaviour
 
         if (_mode == Mode.DC)
         {
-            SetCaption("Degrees");
+            if (_caption != null) _caption.text = "Degrees";
-            SetCaptionVisible(true);
+            if (_buttonText != null) _buttonText.text = "Rotate";
-            SetMainButtonText("Rotate");
             SetDirectionVisible(true);
-            SetInputVisible(true);
-            SetUploadVisible(false);
-            SetPlayVisible(false);
 
             if (inputField != null)
-            {
-                inputField.readOnly = false;
                 inputField.SetTextWithoutNotify(_savedDCInput);
-            }
 
             if (directionDropdown != null)
                 directionDropdown.SetValueWithoutNotify(_savedDirectionIndex);
         }
         else if (_mode == Mode.Display)
         {
-            SetCaption("Text");
+            if (_caption != null) _caption.text = "Text";
-            SetCaptionVisible(true);
+            if (_buttonText != null) _buttonText.text = "Send";
-            SetMainButtonText("Send");
             SetDirectionVisible(false);
-            SetInputVisible(true);
-            SetUploadVisible(false);
-            SetPlayVisible(false);
 
-            if (inputField != null)
+            // Prefer module's current displayText; fallback to last typed text
-            {
-                inputField.readOnly = false;
             string toShow = _savedDisplayInput;
             if (_display != null && !string.IsNullOrEmpty(_display.displayText))
                 toShow = _display.displayText;
+
+            if (inputField != null)
                 inputField.SetTextWithoutNotify(toShow);
         }
-        }
+        else if (_mode == Mode.Gripper)
-        else if (_mode == Mode.Speaker)
         {
-            // Speaker UI: no input field (removes the white box behind buttons)
+            if (_caption != null) _caption.text = "Degrees";
-            SetMainButtonText("Send Audio");
+            if (_buttonText != null) _buttonText.text = "Apply";
-            SetCaptionVisible(false);
             SetDirectionVisible(false);
-            SetInputVisible(false);
 
-            // Show speaker buttons
+            if (inputField != null)
-            SetUploadVisible(true);
+                inputField.SetTextWithoutNotify(_gripper != null ? _gripper.currentAngle.ToString("F0") : _savedGripperInput);
-            SetPlayVisible(true);
         }
     }
 
-    private void SetCaption(string text)
-    {
-        if (_caption != null) _caption.text = text;
-    }
-
-    private void SetMainButtonText(string text)
-    {
-        if (_buttonText != null) _buttonText.text = text;
-    }
-
     private void SetDirectionVisible(bool visible)
     {
         if (_directionCaptionGO != null) _directionCaptionGO.SetActive(visible);
         if (_directionDropdownGO != null) _directionDropdownGO.SetActive(visible);
     }
 
-    private void SetInputVisible(bool visible)
-    {
-        if (inputField != null && inputField.gameObject.activeSelf != visible)
-            inputField.gameObject.SetActive(visible);
-    }
-
     private void CacheCurrentInput()
     {
         if (inputField == null) return;
@@ -189,19 +170,28 @@ public class ControlPanel : MonoBehaviour
         if (_mode == Mode.DC)
         {
             _savedDCInput = inputField.text;
-            if (directionDropdown != null) _savedDirectionIndex = directionDropdown.value;
+            if (directionDropdown != null)
+                _savedDirectionIndex = directionDropdown.value;
         }
         else if (_mode == Mode.Display)
         {
             _savedDisplayInput = inputField.text;
         }
+        else if (_mode == Mode.Gripper)
+        {
+            _savedGripperInput = inputField.text;
+        }
     }
 
-    private void OnMainButtonClicked()
+    private void OnButtonClicked()
     {
         if (_mode == Mode.DC)
         {
-            if (_dc == null) return;
+            if (_dc == null)
+            {
+                Debug.LogWarning("ControlPanel: No DC module selected.");
+                return;
+            }
 
             if (!float.TryParse(inputField.text, out float degrees))
             {
@@ -214,206 +204,30 @@ public class ControlPanel : MonoBehaviour
         }
         else if (_mode == Mode.Display)
         {
-            if (_display == null) return;
+            if (_display == null)
-            _display.SetDisplayText(inputField != null ? inputField.text : "");
-        }
-        else if (_mode == Mode.Speaker)
             {
-            if (_speaker == null) return;
+                Debug.LogWarning("ControlPanel: No Display module selected.");
-            _speaker.SendAudioToHardware(); // Send Audio = upload to hardware (your implementation)
+                return;
-        }
             }
 
-    // -------------------------
+            string text = inputField != null ? inputField.text : "";
-    // Styling helpers (copy Send button look)
+            _display.SetDisplayText(text); // <- THIS is where Display module gets the text
-    // -------------------------
+        }
-
+        else if (_mode == Mode.Gripper)
-    private void CopyButtonStyle(Button source, Button target)
         {
-        if (source == null || target == null) return;
+            if (_gripper == null)
-
-        // Button settings
-        target.transition = source.transition;
-        target.colors = source.colors;
-        target.spriteState = source.spriteState;
-        target.navigation = source.navigation;
-        target.interactable = source.interactable;
-
-        // Image settings
-        var srcImg = source.GetComponent<Image>();
-        var dstImg = target.GetComponent<Image>();
-        if (srcImg != null && dstImg != null)
             {
-            dstImg.sprite = srcImg.sprite;
+                Debug.LogWarning("ControlPanel: No Gripper module selected.");
-            dstImg.type = srcImg.type;
+                return;
-            dstImg.pixelsPerUnitMultiplier = srcImg.pixelsPerUnitMultiplier;
-            dstImg.material = srcImg.material;
-            dstImg.color = srcImg.color;
-            dstImg.raycastTarget = srcImg.raycastTarget;
-        }
             }
 
-    private void CopyTMPStyle(TextMeshProUGUI source, TextMeshProUGUI target)
+            if (!float.TryParse(inputField.text, out float degrees))
             {
-        if (source == null || target == null) return;
+                Debug.LogWarning("ControlPanel: Invalid degree input for Gripper.");
-
+                return;
-        target.font = source.font;
-        target.fontSharedMaterial = source.fontSharedMaterial;
-        target.fontStyle = source.fontStyle;
-        target.fontSize = source.fontSize;
-        target.enableAutoSizing = source.enableAutoSizing;
-        target.color = source.color;
-        target.enableVertexGradient = source.enableVertexGradient;
-        target.alignment = source.alignment;
-        target.enableWordWrapping = source.enableWordWrapping;
-        target.richText = source.richText;
             }
 
-    // -------------------------
+            _gripper.SetAngleAndSendControlLibrary(Mathf.Clamp(degrees, 0f, 180f));
-    // Upload button (code-created)
+        }
-    // -------------------------
-
-    private void CreateUploadButtonIfNeeded()
-    {
-        if (_uploadButton != null) return;
-
-        var go = new GameObject("UploadButton");
-        go.transform.SetParent(transform, false);
-
-        var img = go.AddComponent<Image>();
-        img.raycastTarget = true;
-
-        _uploadButton = go.AddComponent<Button>();
-        _uploadButton.onClick.AddListener(OnUploadClicked);
-
-        // Copy Send button look
-        CopyButtonStyle(button, _uploadButton);
-
-        var textGo = new GameObject("Text (TMP)");
-        textGo.transform.SetParent(go.transform, false);
-        _uploadButtonText = textGo.AddComponent<TextMeshProUGUI>();
-        _uploadButtonText.text = "Upload Audio";
-
-        // Copy Send text look
-        CopyTMPStyle(_buttonText, _uploadButtonText);
-        _uploadButtonText.alignment = TextAlignmentOptions.Center;
-
-        // Layout: above Play
-        var rt = go.GetComponent<RectTransform>();
-        rt.anchorMin = new Vector2(0.5f, 0f);
-        rt.anchorMax = new Vector2(0.5f, 0f);
-        rt.pivot = new Vector2(0.5f, 0f);
-        rt.sizeDelta = button != null ? button.GetComponent<RectTransform>().sizeDelta : new Vector2(180f, 40f);
-        rt.anchoredPosition = new Vector2(0f, 110f);
-
-        var trt = textGo.GetComponent<RectTransform>();
-        trt.anchorMin = Vector2.zero;
-        trt.anchorMax = Vector2.one;
-        trt.offsetMin = Vector2.zero;
-        trt.offsetMax = Vector2.zero;
-
-        go.SetActive(false);
-    }
-
-    private void SetUploadVisible(bool visible)
-    {
-        if (_uploadButton != null && _uploadButton.gameObject.activeSelf != visible)
-            _uploadButton.gameObject.SetActive(visible);
-    }
-
-    private void OnUploadClicked()
-    {
-        if (_speaker == null) return;
-
-        string path = OpenAudioFilePicker();
-        if (string.IsNullOrEmpty(path)) return;
-
-        _speaker.SetAudioFile(path);
-        // If you want to display filename somewhere without the input field,
-        // we can put it in the caption temporarily or add a TMP label in code.
-    }
-
-    // -------------------------
-    // Play button (code-created)
-    // -------------------------
-
-    private void CreatePlayButtonIfNeeded()
-    {
-        if (_playButton != null) return;
-
-        var go = new GameObject("PlayButton");
-        go.transform.SetParent(transform, false);
-
-        var img = go.AddComponent<Image>();
-        img.raycastTarget = true;
-
-        _playButton = go.AddComponent<Button>();
-        _playButton.onClick.AddListener(OnPlayClicked);
-
-        // Copy Send button look
-        CopyButtonStyle(button, _playButton);
-
-        var textGo = new GameObject("Text (TMP)");
-        textGo.transform.SetParent(go.transform, false);
-        _playButtonText = textGo.AddComponent<TextMeshProUGUI>();
-        _playButtonText.text = "Play Audio";
-
-        // Copy Send text look
-        CopyTMPStyle(_buttonText, _playButtonText);
-        _playButtonText.alignment = TextAlignmentOptions.Center;
-
-        // Layout: between Upload and Send
-        var rt = go.GetComponent<RectTransform>();
-        rt.anchorMin = new Vector2(0.5f, 0f);
-        rt.anchorMax = new Vector2(0.5f, 0f);
-        rt.pivot = new Vector2(0.5f, 0f);
-        rt.sizeDelta = button != null ? button.GetComponent<RectTransform>().sizeDelta : new Vector2(180f, 40f);
-        rt.anchoredPosition = new Vector2(0f, 60f);
-
-        var trt = textGo.GetComponent<RectTransform>();
-        trt.anchorMin = Vector2.zero;
-        trt.anchorMax = Vector2.one;
-        trt.offsetMin = Vector2.zero;
-        trt.offsetMax = Vector2.zero;
-
-        go.SetActive(false);
-    }
-
-    private void SetPlayVisible(bool visible)
-    {
-        if (_playButton != null && _playButton.gameObject.activeSelf != visible)
-            _playButton.gameObject.SetActive(visible);
-    }
-
-    private void OnPlayClicked()
-    {
-        if (_speaker == null) return;
-        _speaker.PlayAudioOnHardware();
-    }
-
-    // -------------------------
-    // File Picker (Editor + builds via SFB)
-    // -------------------------
-
-    private string OpenAudioFilePicker()
-    {
-#if UNITY_EDITOR
-        return UnityEditor.EditorUtility.OpenFilePanel("Select audio file", "", "wav,mp3,ogg");
-#else
-        var extensions = new[]
-        {
-            new SFB.ExtensionFilter("Audio Files", "wav", "mp3", "ogg"),
-            new SFB.ExtensionFilter("All Files", "*")
-        };
-
-        string[] paths = SFB.StandaloneFileBrowser.OpenFilePanel("Select audio file", "", extensions, false);
-        return (paths != null && paths.Length > 0) ? paths[0] : "";
-#endif
-    }
-
-    private void SetCaptionVisible(bool visible)
-    {
-        if (_caption != null && _caption.gameObject.activeSelf != visible)
-            _caption.gameObject.SetActive(visible);
     }
 }

Assets/Flatbuffers_generated/ModuleType.cs

@@ -21,5 +21,6 @@ public enum ModuleType : sbyte
   SPLITTER_6 = 14,
   SPLITTER_7 = 15,
   SPLITTER_8 = 16,
+  POWER = 17,
 };
 

Assets/LiveViewModulePanel.cs

@@ -23,12 +23,14 @@ public class LiveViewModulePanel : MonoBehaviour
 
     private bool _sliderDragging;
     private ControlPanel panel;
+    private ModuleBase _lastSelected;
     private GameObject sensorTextContainer;
     private readonly System.Collections.Generic.List<TextMeshProUGUI> sensorTextLines = new System.Collections.Generic.List<TextMeshProUGUI>();
 
     void Start()
     {
         CreateSensorTextUI();
+        ApplyRoundedCornersToPanel();
 
         if (servoAngleSlider != null)
         {
@@ -36,6 +38,7 @@ public class LiveViewModulePanel : MonoBehaviour
             servoAngleSlider.maxValue = 180f;
             servoAngleSlider.direction = Slider.Direction.BottomToTop;
             servoAngleSlider.onValueChanged.AddListener(OnServoSliderChanged);
+            ConfigureSliderForVertical(servoAngleSlider);
 
             var et = servoAngleSlider.GetComponent<EventTrigger>() ?? servoAngleSlider.gameObject.AddComponent<EventTrigger>();
             var begin = new EventTrigger.Entry { eventID = EventTriggerType.BeginDrag };
@@ -66,6 +69,7 @@ public class LiveViewModulePanel : MonoBehaviour
 
         if (selected == null)
         {
+            _lastSelected = null;
             SetModuleInfo("No module selected");
             SetServoSectionActive(false);
             SetModuleControlSectionActive(false);
@@ -83,7 +87,6 @@ public class LiveViewModulePanel : MonoBehaviour
         var display = selected as DisplayModule;
         var distance = selected as DistanceSensorModule;
         var imu = selected as IMUSensorModule;
-        var speaker = selected as SpeakerModule;
 
         if (servo != null)
         {
@@ -117,13 +120,20 @@ public class LiveViewModulePanel : MonoBehaviour
             return;
         }
 
-        // DC or Display both use the same control section
+        // DC, Display, or Gripper use the same control section (degrees input + button)
-        if (dc != null || display != null || speaker != null)
+        var gripper = selected as GripperModule;
+        if (dc != null || display != null || gripper != null)
         {
             SetServoSectionActive(false);
             SetModuleControlSectionActive(true);
+            SetSensorTextActive(false);
 
+            if (selected != _lastSelected)
+            {
+                _lastSelected = selected;
                 panel?.Initialize(selected);
+            }
+
             return;
         }
 
@@ -133,6 +143,16 @@ public class LiveViewModulePanel : MonoBehaviour
         SetSensorTextActive(false);
     }
 
+    void ApplyRoundedCornersToPanel()
+    {
+        var img = GetComponent<Image>();
+        if (img != null && img.sprite == null)
+        {
+            img.sprite = UIRoundedSprite.GetRoundedRectSprite();
+            img.type = Image.Type.Sliced; // 9-slice keeps corners rounded when panel stretches
+        }
+    }
+
     void SetModuleControlSectionActive(bool active)
     {
         if (moduleControlSection == null || panel == null) return;
@@ -161,6 +181,59 @@ public class LiveViewModulePanel : MonoBehaviour
             ServoMotorModule.selectedModule.SetAngleAndSendControlLibrary(value);
     }
 
+    void ConfigureSliderForVertical(Slider slider)
+    {
+        if (slider == null || servoControlSection == null) return;
+        var sectionRect = servoControlSection.GetComponent<RectTransform>();
+        if (sectionRect != null)
+            EnsureDegreeLabels(sectionRect);
+    }
+
+    void EnsureDegreeLabels(RectTransform sectionRect)
+    {
+        SetDegreeLabel(sectionRect, "0deg", "0", 0, 14);
+        SetDegreeLabel(sectionRect, "180deg", "180", 1, -14);
+    }
+
+    void SetDegreeLabel(RectTransform sectionRect, string goName, string text, float anchorY, float posY)
+    {
+        var t = sectionRect.Find(goName);
+        if (t == null)
+        {
+            var go = new GameObject(goName);
+            go.transform.SetParent(sectionRect, false);
+            var tmp = go.AddComponent<TextMeshProUGUI>();
+            tmp.text = text;
+            tmp.fontSize = 16;
+            tmp.color = Color.white;
+            tmp.alignment = TextAlignmentOptions.MidlineLeft;
+            var r = go.GetComponent<RectTransform>();
+            r.anchorMin = new Vector2(1f, anchorY);
+            r.anchorMax = new Vector2(1f, anchorY);
+            r.pivot = new Vector2(0f, 0.5f);
+            r.anchoredPosition = new Vector2(20, posY);
+            r.sizeDelta = new Vector2(50, 24);
+        }
+        else
+        {
+            var tmp = t.GetComponent<TextMeshProUGUI>();
+            if (tmp != null)
+            {
+                tmp.color = Color.white;
+                tmp.fontSize = 16;
+            }
+            var r = t.GetComponent<RectTransform>();
+            if (r != null)
+            {
+                r.anchorMin = new Vector2(1f, anchorY);
+                r.anchorMax = new Vector2(1f, anchorY);
+                r.pivot = new Vector2(0f, 0.5f);
+                r.anchoredPosition = new Vector2(20, posY);
+                r.sizeDelta = new Vector2(50, 24);
+            }
+        }
+    }
+
     void CreateSensorTextUI()
     {
         if (moduleInfoText == null) return;

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@@ -210,7 +210,7 @@ MeshRenderer:
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   m_RendererPriority: 0
   m_Materials:
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@@ -302,3 +302,4 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 784f95ab01dbf4561a8608c4b0d20705, type: 3}
   m_Name: 
   m_EditorClassIdentifier: '::'
+  displayText: 

Assets/Module/DistanceSensorModule.prefab

@@ -25,7 +25,7 @@ Transform:
   m_GameObject: {fileID: 1299373927565291857}
   serializedVersion: 2
   m_LocalRotation: {x: 0, y: 0.7071068, z: 0, w: 0.7071068}
-  m_LocalPosition: {x: -0.02013, y: 0.0142, z: 0.0271}
+  m_LocalPosition: {x: -0.0201, y: 0.0142, z: 0.03192}
   m_LocalScale: {x: 10, y: 10, z: 10}
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   m_Children: []
@@ -79,6 +79,7 @@ MonoBehaviour:
   m_EditorClassIdentifier: '::'
   objectDetected: 0
   distanceMeters: 0
+  infoLines: []
 --- !u!1 &5041994602013865196
 GameObject:
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@@ -146,7 +147,7 @@ MeshRenderer:
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Assets/Module/GripperModule.prefab

@@ -122,7 +122,7 @@ MeshRenderer:
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   m_RendererPriority: 0
   m_Materials:
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@@ -234,7 +234,7 @@ MeshRenderer:
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   m_LocalRotation: {x: 0.5, y: 0.5, z: -0.5, w: 0.5}
-  m_LocalPosition: {x: -0.01608, y: 0.01436, z: 0.0567}
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@@ -377,7 +377,7 @@ MeshRenderer:
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Assets/Module/IMUSensorModule.prefab

@@ -67,7 +67,7 @@ MeshRenderer:
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Assets/Module/PowerModule.prefab

@@ -176,7 +176,7 @@ MeshRenderer:
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Assets/Module/ServoBendModuleFinal.prefab

@@ -20,6 +20,10 @@ PrefabInstance:
       propertyPath: m_Name
       value: ServoBendModuleFinal
       objectReference: {fileID: 0}
+    - target: {fileID: 3298615727327907093, guid: 4b60ff46518f54cdea157ba10a27703b, type: 3}
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+      value: -0.0461
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@@ -51,7 +55,7 @@ PrefabInstance:
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       value: 
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@@ -143,7 +147,7 @@ PrefabInstance:
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Assets/Module/ServoStraightModule.prefab

@@ -67,7 +67,7 @@ MeshRenderer:
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   m_Materials:
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@@ -178,7 +178,7 @@ MeshRenderer:
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@@ -260,7 +260,7 @@ Transform:
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   m_LocalRotation: {x: 0.7071068, y: 0, z: 0, w: 0.7071068}
-  m_LocalPosition: {x: 0.04, y: 0, z: 0}
+  m_LocalPosition: {x: 0.0412, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children: []
@@ -418,7 +418,7 @@ Transform:
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   m_LocalRotation: {x: 0.5, y: -0.5, z: 0.5, w: 0.5}
-  m_LocalPosition: {x: -0.01846, y: 0.011742475, z: -0.02474}
+  m_LocalPosition: {x: -0.0185, y: 0.011742475, z: -0.0198}
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Assets/Module/SpeakerModule.prefab

@@ -147,7 +147,7 @@ MeshRenderer:
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Assets/Module/TopologyBuilder.cs

@@ -114,6 +114,7 @@ public class TopologyBuilder : MonoBehaviour
             case "DC": return ModuleType.DC_MOTOR;
             case "Hub": return ModuleType.SPLITTER;
             case "Battery": return ModuleType.BATTERY;
+            case "Power": return ModuleType.POWER;
             case "Gripper": return ModuleType.GRIPPER;
             case "Display": return ModuleType.DISPLAY;
             case "Distance": return ModuleType.DISTANCE_SENSOR;
@@ -186,6 +187,12 @@ public class TopologyBuilder : MonoBehaviour
                     }
                     servo.InitialSetAngle(module.Degree);
                 }
+                else if (parsedType == ModuleType.GRIPPER)
+                {
+                    var gripper = instance.GetComponent<GripperModule>();
+                    if (gripper != null)
+                        gripper.InitialSetAngle(module.Degree);
+                }
             }
         }
 

Assets/Module/battery_module_mf_unity.prefab

@@ -126,6 +126,10 @@ PrefabInstance:
       propertyPath: m_ConstrainProportionsScale
       value: 1
       objectReference: {fileID: 0}
+    - target: {fileID: -3855335175272487014, guid: c9bb9c26ce95f4c38b0975e4796d7c84, type: 3}
+      propertyPath: 'm_Materials.Array.data[0]'
+      value: 
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     - target: {fileID: 919132149155446097, guid: c9bb9c26ce95f4c38b0975e4796d7c84, type: 3}
       propertyPath: m_Name
       value: battery_module_mf_unity

Assets/Module/hub_module_mmmf_unity.prefab

@@ -25,7 +25,7 @@ Transform:
   m_GameObject: {fileID: 816366772234525515}
   serializedVersion: 2
   m_LocalRotation: {x: 0, y: 0.7071068, z: -0.7071068, w: 0}
-  m_LocalPosition: {x: 0, y: 0.02, z: 0.02}
+  m_LocalPosition: {x: 0.0045, y: 0.02, z: 0.02}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children: []
@@ -196,6 +196,10 @@ PrefabInstance:
       propertyPath: m_Name
       value: hub_module_mmmf_unity
       objectReference: {fileID: 0}
+    - target: {fileID: 1797760339730403953, guid: 78fb54ff1ce8d48b9886d9638992bd2e, type: 3}
+      propertyPath: 'm_Materials.Array.data[0]'
+      value: 
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     m_AddedGameObjects:

Assets/ModuleBase.cs

@@ -10,14 +10,15 @@ public abstract class ModuleBase : MonoBehaviour
 
     public void SendToControlLibrary(string moduleType, float currentAngle)
     {
+        int angleRounded = Mathf.RoundToInt(currentAngle);
         var json = "";
-        if (moduleType.Contains("Servo"))
+        if (moduleType.Contains("Servo") || moduleType == "Gripper")
         {
             json = JsonUtility.ToJson(new ServoCommand
             {
                 ModuleId = moduleID,
                 Type = moduleType,
-                TargetAngle = currentAngle
+                TargetAngle = angleRounded
             });
         }
         else if (moduleType == "DC")
@@ -31,7 +32,7 @@ public abstract class ModuleBase : MonoBehaviour
             {
                 ModuleId = moduleID,
                 Type = moduleType,
-                RotateByDegrees = Math.Abs(currentAngle),
+                RotateByDegrees = Math.Abs(angleRounded),
                 Direction = direction
             });
         }
@@ -40,7 +41,7 @@ public abstract class ModuleBase : MonoBehaviour
         {
             return;
         }
-        if (0 != ControlLibrary.send_angle_control(Int32.Parse(moduleID), (int)currentAngle))
+        if (0 != ControlLibrary.send_angle_control(Int32.Parse(moduleID), angleRounded))
         {
             Debug.Log("Control library exited with error");
         }

Assets/ModuleSpawner.cs

@@ -17,6 +17,7 @@ public class ModuleSpawner : MonoBehaviour
     public GameObject distanceSensorModulePrefab;
     public GameObject imuSensorModulePrefab;
     public GameObject speakerModulePrefab;
+    public GameObject powerModulePrefab;
 
     public GameObject GetPrefabForType(ModuleType type)
     {
@@ -25,10 +26,12 @@ public class ModuleSpawner : MonoBehaviour
         {
             case ModuleType.BATTERY:
                 return batteryModulePrefab;
+            case ModuleType.POWER:
+                return powerModulePrefab;
             case ModuleType.SPLITTER:
                 return hubModuleMMMFPrefab;
             case ModuleType.DC_MOTOR:
-                return dcMotorModulePrefab;
+                return null; // DC module deactivated
             case ModuleType.SERVO_1:
                 return servoBendModulePrefab;
             case ModuleType.SERVO_2:

Assets/Resources/mockDataSimple.json

@@ -1 +1 @@
-{"Modules":[{"Id":"battery1","Type":"Battery","Degree":null},{"Id":"servo1","Type":"Servo1","Degree":45},{"Id":"servo2","Type":"Servo2","Degree":60},{"Id":"servo3","Type":"Servo1","Degree":90},{"Id":"servo4","Type":"Servo2","Degree":0},{"Id":"endModule","Type":"Speaker","Degree":null}],"Connections":[{"FromModuleId":"battery1","ToModuleId":"servo1","FromSocket":"MaleSocket","ToSocket":"BodySocket","Orientation":0},{"FromModuleId":"servo1","ToModuleId":"servo2","FromSocket":"MaleSocket","ToSocket":"FemaleSocket","Orientation":90},{"FromModuleId":"servo2","ToModuleId":"servo3","FromSocket":"MaleSocket","ToSocket":"FemaleSocket","Orientation":0},{"FromModuleId":"servo3","ToModuleId":"servo4","FromSocket":"MaleSocket","ToSocket":"FemaleSocket","Orientation":90},{"FromModuleId":"servo4","ToModuleId":"endModule","FromSocket":"MaleSocket","ToSocket":"FemaleSocket","Orientation":0}]}
+{"Modules":[{"Id":"power1","Type":"Power","Degree":null},{"Id":"servo1","Type":"Servo1","Degree":45},{"Id":"servo2","Type":"Servo2","Degree":60},{"Id":"servo3","Type":"Servo1","Degree":90},{"Id":"servo4","Type":"Servo2","Degree":0},{"Id":"endModule","Type":"Speaker","Degree":null}],"Connections":[{"FromModuleId":"power1","ToModuleId":"servo1","FromSocket":"MaleSocket","ToSocket":"BodySocket","Orientation":0},{"FromModuleId":"servo1","ToModuleId":"servo2","FromSocket":"MaleSocket","ToSocket":"FemaleSocket","Orientation":90},{"FromModuleId":"servo2","ToModuleId":"servo3","FromSocket":"MaleSocket","ToSocket":"FemaleSocket","Orientation":0},{"FromModuleId":"servo3","ToModuleId":"servo4","FromSocket":"MaleSocket","ToSocket":"FemaleSocket","Orientation":90},{"FromModuleId":"servo4","ToModuleId":"endModule","FromSocket":"MaleSocket","ToSocket":"FemaleSocket","Orientation":0}]}

Assets/ServoStraightModule.cs

@@ -33,7 +33,7 @@ public class ServoStraightModule : ServoMotorModule
     {
         currentAngle = Mathf.Clamp(angle, 0f, 180f);
         lastSentAngle = currentAngle;
-        armPivot.localRotation = Quaternion.Euler(currentAngle, 0f, 0f);
+        MoveArmPivot(currentAngle);
     }
 
     // public void SetHighlight(bool enabled)

Assets/StarterAssets/Environment/Art/Materials/GreyBlue_Mat.mat

@@ -98,8 +98,11 @@ Material:
         m_Offset: {x: 0, y: 0}
     m_Ints: []
     m_Floats:
+    - _AddPrecomputedVelocity: 0
     - _AlphaClip: 0
+    - _AlphaToMask: 0
     - _Blend: 0
+    - _BlendModePreserveSpecular: 1
     - _BumpScale: 1
     - _ClearCoatMask: 0
     - _ClearCoatSmoothness: 0
@@ -108,6 +111,7 @@ Material:
     - _DetailAlbedoMapScale: 1
     - _DetailNormalMapScale: 1
     - _DstBlend: 0
+    - _DstBlendAlpha: 0
     - _EnvironmentReflections: 0
     - _GlossMapScale: 1
     - _Glossiness: 0.477
@@ -122,13 +126,15 @@ Material:
     - _SmoothnessTextureChannel: 0
     - _SpecularHighlights: 1
     - _SrcBlend: 1
+    - _SrcBlendAlpha: 1
     - _Surface: 0
     - _UVSec: 0
     - _WorkflowMode: 1
+    - _XRMotionVectorsPass: 1
     - _ZWrite: 1
     m_Colors:
-    - _BaseColor: {r: 0.5110952, g: 0.62652487, b: 0.6886792, a: 1}
+    - _BaseColor: {r: 0, g: 0, b: 0, a: 1}
-    - _Color: {r: 0.5110952, g: 0.62652487, b: 0.6886792, a: 1}
+    - _Color: {r: 0, g: 0, b: 0, a: 1}
     - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
     - _SpecColor: {r: 0.2, g: 0.2, b: 0.2, a: 1}
   m_BuildTextureStacks: []

Assets/SyntyStudios/PolygonSamples/PolygonDungeons/Materials/PolygonDungeons_Texture_A_01.mat.meta

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