void RunContinuousLogic()
{
quantity = DrillCount();
if (quantity > 10 && quantity > lastQuantity)
{
slowDown = true;
}
lastQuantity = quantity;
Display();
if (quantity > 10000)
{
stateMachine = StateMachine.Waitting;
}
switch (stateMachine)
{
case StateMachine.Initializing:
Initializing();
break;
case StateMachine.Running:
Running();
break;
case StateMachine.RotorZero:
RotorZero();
break;
case StateMachine.Stopping:
pistonUp.Off();
pistonDown.Off();
pistonRayon.Off();
stators.Lock();
drills.Off();
break;
case StateMachine.Waitting:
pistonUp.Off();
pistonDown.Off();
pistonRayon.Off();
stators.Lock();
drills.Off();
if (quantity == 0)
{
stateMachine = StateMachine.Running;
}
break;
}
}
private void Staging(ActionMachine action)
{
bool closed = true;
float position_target = 0f;
float velocity = 0f;
switch (action)
{
case ActionMachine.LockBottom:
velocity = -MyProperty.locker_velocity;
position_target = MyProperty.locker_position_min;
bottom_mergers.On();
bottom_pistons.Velocity(velocity);
WriteText($"Bottom mergers: On", true);
WriteText($"Velocity: {velocity}", true);
WriteText($"Target Position={position_target}", true);
closed = true;
bottom_pistons.ForEach(delegate(IMyPistonBase block)
{
WriteText($"Position={block.CurrentPosition}", true);
});
if (bottom_pistons.IsLessPosition(position_target))
{
Stage++;
}
break;
case ActionMachine.UnlockBottom:
closed = true;
top_mergers.ForEach(delegate(IMyShipMergeBlock block) {
if (!block.IsConnected)
{
closed = false;
}
});
if (!closed)
{
WriteText($"!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!", true);
WriteText($"Security: Top mergers is Off", true);
}
else
{
velocity = MyProperty.locker_velocity;
position_target = MyProperty.locker_position_max;
bottom_mergers.Off();
bottom_pistons.Velocity(velocity);
WriteText($"Bottom mergers: Off", true);
WriteText($"Velocity: {velocity}", true);
WriteText($"Target Position={position_target}", true);
closed = true;
bottom_pistons.ForEach(delegate(IMyPistonBase block)
{
WriteText($"Position={block.CurrentPosition}", true);
});
if (bottom_pistons.IsMorePosition(position_target))
{
Stage++;
}
}
break;
case ActionMachine.LockTop:
velocity = -MyProperty.locker_velocity;
position_target = MyProperty.locker_position_min;
top_mergers.On();
top_pistons.Velocity(velocity);
WriteText($"Bottom mergers: On", true);
WriteText($"Velocity: {velocity}", true);
WriteText($"Target Position={position_target}", true);
closed = true;
top_pistons.ForEach(delegate(IMyPistonBase block)
{
WriteText($"Position={block.CurrentPosition}", true);
});
if (top_pistons.IsLessPosition(position_target))
{
connector.Lock();
Stage++;
}
break;
case ActionMachine.UnlockTop:
closed = true;
bottom_mergers.ForEach(delegate(IMyShipMergeBlock block) {
if (!block.IsConnected)
{
closed = false;
}
});
if (!closed)
{
WriteText($"!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!", true);
WriteText($"Security: Bottom mergers is Off", true);
}
else
{
velocity = MyProperty.locker_velocity;
position_target = MyProperty.locker_position_max;
top_mergers.Off();
top_pistons.Velocity(velocity);
connector.Unlock();
WriteText($"Top mergers: Off", true);
WriteText($"Connector: Unlock", true);
WriteText($"Velocity: {velocity}", true);
WriteText($"Target Position={position_target}", true);
closed = true;
top_pistons.ForEach(delegate(IMyPistonBase block)
{
WriteText($"Position={block.CurrentPosition}", true);
});
if (top_pistons.IsMorePosition(position_target))
{
Stage++;
}
}
break;
case ActionMachine.Down:
levage_pistons.On();
WriteText($"Piston Levage: On", true);
velocity = MyProperty.elevator_velocity_min;
if (Mode == ModeMachine.Up)
{
velocity = MyProperty.elevator_velocity_max;
}
WriteText($"Piston Velocity: {velocity}", true);
levage_pistons.Velocity(velocity);
position_target = MyProperty.elevator_position_max;
WriteText($"Target Position={position_target}", true);
levage_pistons.ForEach(delegate(IMyPistonBase block)
{
WriteText($"Position={block.CurrentPosition}", true);
});
//projector_count = projector.List[0].RemainingBlocks;
if (levage_pistons.IsMorePosition(position_target))
{
Stage++;
}
break;
case ActionMachine.Up:
levage_pistons.On();
WriteText($"Piston Levage: On", true);
velocity = -MyProperty.elevator_velocity_max;
if (Mode == ModeMachine.Up)
{
velocity = -MyProperty.elevator_velocity_min;
}
WriteText($"Piston Velocity: {velocity}", true);
levage_pistons.Velocity(velocity);
position_target = MyProperty.elevator_position_min;
WriteText($"Target Position={position_target}", true);
levage_pistons.ForEach(delegate(IMyPistonBase block)
{
WriteText($"Position={block.CurrentPosition}", true);
});
//projector_count = projector.List[0].RemainingBlocks;
if (levage_pistons.IsLessPosition(position_target + 0.1f))
{
Stage++;
}
break;
case ActionMachine.StartWelder:
projector.On();
welders.On();
WriteText($"Welders: On", true);
Stage++;
break;
case ActionMachine.StopWelder:
welders.Off();
projector.Off();
WriteText($"Welders: Off", true);
Stage++;
break;
case ActionMachine.StartGrinder:
grinders.On();
//projector.On();
WriteText($"Grinders: On", true);
Stage++;
break;
case ActionMachine.StopGrinder:
grinders.Off();
//projector.Off();
WriteText($"Grinders: Off", true);
Stage++;
break;
case ActionMachine.Terminated:
Cycle -= 1;
if (Cycle == 0)
{
Mode = ModeMachine.Stop;
}
Stage = 0;
break;
case ActionMachine.Start:
MyProperty.Load();
light.On();
drills.On();
Stage++;
break;
case ActionMachine.Stop:
projector.Off();
light.Off();
drills.Off();
Stage++;
break;
}
}
void Running()
{
delta = max_power - last_power;
switch (machine_state)
{
case StateMachine.Stopped:
lat_stators.Off();
lat_stators.Lock();
lon_stators.Off();
lon_stators.Lock();
if (Math.Abs(delta) > MyProperty.Lat_Delta)
{
machine_state = StateMachine.TrakingLat;
last_power = 0;
}
break;
case StateMachine.TrakingLat:
if (Math.Abs(delta) < MyProperty.Lat_Delta)
{
machine_state = StateMachine.TrakingLon;
}
else
{
if (delta < 0)
{
lat_state = lat_state == StateLat.Forward ? StateLat.Backward : StateLat.Forward;
}
lat_stators.ForEach(delegate(IMyMotorStator block) {
if (lat_state == StateLat.Forward)
{
block.TargetVelocityRPM = MyProperty.Lat_Speed;
}
else
{
block.TargetVelocityRPM = -MyProperty.Lat_Speed;
}
});
lat_stators.On();
lat_stators.Unlock();
}
break;
case StateMachine.TrakingLon:
if (Math.Abs(delta) < MyProperty.Lat_Delta)
{
machine_state = StateMachine.Stopped;
}
else
{
if (delta < 0)
{
lon_state = lon_state == StateLon.Forward ? StateLon.Backward : StateLon.Forward;
}
float factor = 1f;
lon_stators.ForEach(delegate(IMyMotorStator block) {
if (lon_state == StateLon.Forward)
{
block.TargetVelocityRPM = MyProperty.Lat_Speed * factor;
}
else
{
block.TargetVelocityRPM = -MyProperty.Lat_Speed * factor;
}
factor *= -1f;
});
lon_stators.On();
lon_stators.Unlock();
}
break;
default:
if (Math.Abs(delta) < MyProperty.Lat_Delta)
{
machine_state = StateMachine.Stopped;
}
else
{
machine_state = StateMachine.TrakingLat;
}
break;
}
last_power = max_power;
}
