public void Main(string argument)
{
switch (state)
{
case Mode.Idle:
if (argument == "Wreck")
{
state = Mode.Grinding;
}
if (argument == "Start")
{
if (visor.AvailableScanRange >= 1000)
{
Echo("Search for target");
target = visor.Raycast(1000);
}
}
if (target.IsEmpty())
{
Echo("Target not found");
return;
}
Echo("Target found!");
Vector3D targetPos;
if (target.HitPosition != null)
{
targetPos = (Vector3D)target.HitPosition;
Vector3D targetVector = targetPos - control.GetPosition();
targetVector.Normalize();
targetPos = targetPos - 20 * targetVector;
control.ClearWaypoints();
control.AddWaypoint(targetPos, "Target");
control.GetActionWithName("CollisionAvoidance_On").Apply(control);
control.GetActionWithName("DockingMode_On").Apply(control);
//!!!Erst einstellungen, dann aktivieren!!!
control.GetActionWithName("AutoPilot_On").Apply(control);
state = Mode.Flying;
}
break;
case Mode.Flying:
break;
case Mode.Grinding:
List <string> activSensors = CheckSensors(mainGrinderSensors);
Vector3D instructions = CheckDirection(activSensors);
instructions = CheckObstacles(instructions);
float massFactor = control.CalculateShipMass().TotalMass / baseMass;
double thrustFactor = Math.Pow(2, massFactor);
foreach (IMyThrust thrust in allThruster)
{
thrust.SetValueFloat("Override", 0);
}
SetGyros(0, 0, 0);
Echo("Vector is: " + (int)instructions.X + " " + (int)instructions.Y + " " + (int)instructions.Z);
if (activSensors.Count == 0 && CheckSensors(mainCollisionSensors).Count == 0)
{
Echo("Going forward");
foreach (IMyThrust thrust in thruster[Side.Front])
{
thrust.SetValueFloat("Override", (float)(10 * thrustFactor));
}
}
else if (IsZero(instructions))
{
Echo("Is zero");
foreach (IMyThrust thrust in thruster[Side.Back])
{
thrust.SetValueFloat("Override", (float)(5 * thrustFactor));
}
}
else
{
Echo("Working");
int basethrust = 35;
if (instructions.Z == 0)
{
instructions.X = Math.Sign(instructions.X) * thrustFactor;
instructions.Y = Math.Sign(instructions.Y) * thrustFactor;
SetGyros((float)instructions.Y, (float)instructions.X, 0);
instructions.X = -instructions.X;
instructions.Y = -instructions.Y;
basethrust = 5;
}
List <IMyThrust> neededThruster = instructions.X > 0 ? thruster[Side.Right] : thruster[Side.Left];
if (instructions.X != 0)
{
foreach (IMyThrust thrust in neededThruster)
{
thrust.SetValueFloat("Override", (float)(thrustFactor * basethrust));
}
foreach (IMyThrust thrust in thruster[Side.Front])
{
thrust.SetValueFloat("Override", (float)(5 * thrustFactor));
}
}
if (instructions.Y != 0)
{
neededThruster = instructions.Y > 0 ? thruster[Side.Up] : thruster[Side.Down];
foreach (IMyThrust thrust in neededThruster)
{
thrust.SetValueFloat("Override", (float)(thrustFactor * basethrust));
}
foreach (IMyThrust thrust in thruster[Side.Front])
{
thrust.SetValueFloat("Override", (float)(5 * thrustFactor));
}
}
}
break;
}
}
