From 86a5079d57466009398705b2e5cf07e67ae3b97c Mon Sep 17 00:00:00 2001
From: tmori <tmori@esm.co.jp>
Date: Sun, 12 Jul 2020 11:47:02 +0900
Subject: [PATCH] fix #6

---
 .../Hakoniwa/Assets/EV3/RobotController.cs    | 27 ++++++++++++-------
 .../Hakoniwa/Assets/HackEV/HackEVParts.cs     |  6 +++--
 2 files changed, 22 insertions(+), 11 deletions(-)

diff --git a/Assets/Scripts/Hakoniwa/Assets/EV3/RobotController.cs b/Assets/Scripts/Hakoniwa/Assets/EV3/RobotController.cs
index 1ef69e5..10d4a84 100644
--- a/Assets/Scripts/Hakoniwa/Assets/EV3/RobotController.cs
+++ b/Assets/Scripts/Hakoniwa/Assets/EV3/RobotController.cs
@@ -82,9 +82,10 @@ private void InitActuator()
             motor_b.Initialize(obj);
             this.motor_b_sensor = obj.GetComponentInChildren<Hakoniwa.Assets.IRobotMotorSensor>();
 
-            obj = root.transform.Find(this.transform.name + "/" + this.parts.GetMotorC()).gameObject;
-            if (obj != null)
+            string parts = this.parts.GetMotorC();
+            if (parts != null)
             {
+                obj = root.transform.Find(this.transform.name + "/" + this.parts.GetMotorC()).gameObject;
                 this.motor_arm = obj.GetComponentInChildren<Hakoniwa.Assets.IRobotMotor>();
                 motor_arm.Initialize(obj);
                 this.motor_arm_sensor = obj.GetComponentInChildren<Hakoniwa.Assets.IRobotMotorSensor>();
@@ -106,15 +107,17 @@ private void InitSensor()
             ultrasonicSensor = obj.GetComponentInChildren<Hakoniwa.Assets.IRobotUltraSonicSensor>();
             ultrasonicSensor.Initialize(obj);
 
-            obj = root.transform.Find(this.transform.name + "/" + this.parts.getTouchSensor()).gameObject;
-            if (obj != null)
+            string parts = this.parts.getTouchSensor();
+            if (parts != null)
             {
+                obj = root.transform.Find(this.transform.name + "/" + this.parts.getTouchSensor()).gameObject;
                 touchSensor = obj.GetComponentInChildren<Hakoniwa.Assets.IRobotTouchSensor>();
                 touchSensor.Initialize(obj);
             }
-            obj = root.transform.Find(this.transform.name + "/" + this.parts.getGyroSensor()).gameObject;
-            if (obj != null)
+            parts = this.parts.getGyroSensor();
+            if (parts != null)
             {
+                obj = root.transform.Find(this.transform.name + "/" + this.parts.getGyroSensor()).gameObject;
                 gyroSensor = obj.GetComponentInChildren<Hakoniwa.Assets.IRobotGyroSensor>();
                 gyroSensor.Initialize(obj);
             }
@@ -123,11 +126,14 @@ private void UpdateSensor()
         {
             motor_a_sensor.UpdateSensorValues();
             motor_b_sensor.UpdateSensorValues();
-            motor_arm_sensor.UpdateSensorValues();
+            if (this.motor_arm_sensor != null)
+            {
+                motor_arm_sensor.UpdateSensorValues();
+                this.writer.Set("motor_angle_c", (int)motor_arm_sensor.GetDegree());
+            }
 
             this.writer.Set("motor_angle_a", (int)motor_a_sensor.GetDegree());
             this.writer.Set("motor_angle_b", (int)motor_b_sensor.GetDegree());
-            this.writer.Set("motor_angle_c", (int)motor_arm_sensor.GetDegree());
 
             colorSensor.UpdateSensorValues();
             ultrasonicSensor.UpdateSensorValues();
@@ -219,7 +225,10 @@ private void UpdateActuator()
 
             this.motor_a.SetTargetVelicty(power_a * powerConst);
             this.motor_b.SetTargetVelicty(power_b * powerConst);
-            this.motor_arm.SetTargetVelicty(power_c * this.armMotorConst);
+            if (this.motor_arm != null)
+            {
+                this.motor_arm.SetTargetVelicty(power_c * this.armMotorConst);
+            }
         }
     }
 
diff --git a/Assets/Scripts/Hakoniwa/Assets/HackEV/HackEVParts.cs b/Assets/Scripts/Hakoniwa/Assets/HackEV/HackEVParts.cs
index 31521e3..33b179e 100644
--- a/Assets/Scripts/Hakoniwa/Assets/HackEV/HackEVParts.cs
+++ b/Assets/Scripts/Hakoniwa/Assets/HackEV/HackEVParts.cs
@@ -12,6 +12,8 @@ public class HackEVParts : MonoBehaviour, IEV3Parts
         private string motor_b = "RoboModel_Axis/HackEV_L8_RightMotor/HackEV_L8_Wheel/L8_Tire_Bk 1";
         private string color_sensor = "RoboModel_Axis/HackEV_L6_RC1_LightSensor/EV3_ColorSensor/EV3_ColorSensor_Wh06/ColorSensor";
         private string ultra_sonic_sensor = "RoboModel_Axis/HackEV_L8_Sidewinder_Head/EV3_UltrasonicSensor/EV3_UltrasonicSensor_Bk10";
+        private string gyro_sensor = "RoboModel_Axis/HackEV_L8_Sidewinder_Head/EV3_GyroSensor/EV3_GyroSensor_Ash01";
+        private string motor_arm = "RoboModel_Axis/HackEV_L8_MiddleMotor/EV3_InteractiveServoMotor_L/EV3_InteractiveServoMotor_L_MotorRoot";
 
         public string GetColorSensor()
         {
@@ -39,12 +41,12 @@ public string getTouchSensor()
 
         public string getGyroSensor()
         {
-            return null;
+            return gyro_sensor;
         }
 
         public string GetMotorC()
         {
-            return null;
+            return motor_arm;
         }
     }
 }