Quote:

Are rotation values absolute, or related to the Parent's joint ?

@Mickey666Maus, So 0 degrees => servo 90 degrees

Next question: X,Y,Z - where they point ? (when you increase the value): (CW/CCW, UP/Down, Left/Right)

Quote:

1. Joint name

2. Axis value X,Y,Z

3. Inverted calculation or a Formula

Quote:

X,Y,Z - where they point ? (when you increase the value): (CW/CCW, UP/Down, Left/Right)

The previous script has a bug!

Try this one. Look to debug window!

namespace BioIK
{
    using System;
    using EZ_B;
    using UnityEngine;

    public class RotNew : MonoBehaviour
    {
        private int[] lastRotation = new [] { int.MinValue, int.MinValue, int.MinValue };

        private void Start()
        {
            EZBController.Instance.Connect("192.168.1.1");
        }

        private void OnApplicationQuit()
        {
            EZBController.Instance.Disconnect();
        }

        private void Update()
        {
            BioJoint joint = this.GetComponent<BioJoint>();
            var rotation = new int[]
            {
                Mathf.RoundToInt((float)joint.X.GetTargetValue()),
                Mathf.RoundToInt((float)joint.Y.GetTargetValue()),
                Mathf.RoundToInt((float)joint.Z.GetTargetValue()),
            };

            if (rotation[0] == this.lastRotation[0] && rotation[1] == this.lastRotation[1] && rotation[2] == this.lastRotation[2])
            {
                //nothing changed
                return;
            }

            if (rotation[0] != this.lastRotation[0])
            {
                Debug.Log(string.Format("Joint:[{0}] X changed New=[{1}] Prev=[{2}]", this.name, rotation[0], this.lastRotation[0]));
            }
            if (rotation[1] != this.lastRotation[1])
            {
                Debug.Log(string.Format("Joint:[{0}] Y changed New=[{1}] Prev=[{2}]", this.name, rotation[1], this.lastRotation[1]));
            }
            if (rotation[2] != this.lastRotation[2])
            {
                Debug.Log(string.Format("Joint:[{0}] Z changed New=[{1}] Prev=[{2}]", this.name, rotation[2], this.lastRotation[2]));
            }

            this.lastRotation = rotation;

            EZBController.Instance.SetServo(this.name, rotation[1] + 90);
        }

        private class EZBController
        {
            private EZB ezb;
            private object lockObject = new object();

            private EZBController()
            {
                this.ezb = new EZB("MyEzb" );
                this.ezb.OnConnectionChange += this.EzbOnConnectionChange;
            }

            public static EZBController Instance
            {
                get { return Creator.Singleton; }
            }

            public void Connect(string hostname)
            {
                lock (this.lockObject)
                {
                    if (!this.ezb.IsConnected)
                    {
                        Debug.Log("Connecting to EZB hostname:" + hostname);
                        this.ezb.Connect(hostname);
                    }
                }
            }

            public void Disconnect()
            {
                lock (this.lockObject)
                {
                    if (this.ezb.IsConnected)
                    {
                        this.ezb.Disconnect();
                    }
                }
            }

            public void SetServo(string port, int position)
            {
                if (!this.ezb.IsConnected)
                {
                    Debug.LogWarning("EZB is not connected, SetServo will be ignored" );
                    return;
                }

                try
                {
                    var servoPort = (Servo.ServoPortEnum)Enum.Parse(typeof(Servo.ServoPortEnum), "D" + port);
                    this.ezb.Servo.SetServoPosition(servoPort, position);
                }
                catch (Exception ex)
                {
                    Debug.LogError(ex);
                }
            }
            private void EzbOnConnectionChange(bool isConnected)
            {
                Debug.Log("EZB connection changed to: " + (isConnected ? "Connected" : "Disconnect" ));
            }

            private sealed class Creator
            {
                private static readonly EZBController instance = new EZBController();

                internal static EZBController Singleton
                {
                    get { return instance; }
                }
            }
        }
    }
}

I have it all working, I wanted to make a clip today to show how good it works with live control of a robot with 8 DOF, no lag...full IK!

But now we get going with ARC integration, I want to participate of course! Especially now we are having you here to get things going!

Yes we are are extracting math that has already been calculated via the Bio IK plug in. It converts the angles to somewhere between 0 -90, 90 those are the only values produced for X,Y and Z rotate or translated. We just need to get those values to the servos in a form of 1-180 degrees.

I will check the script now...