public GyroControl(IMyCubeBlock rc, UpdateFrequency tickSpeed, List <IMyGyro> gyros)
{
if (rc == null)
{
throw new Exception("Reference block null.");
}
this.rc = rc;
this.gyros = gyros;
double factor = 1;
if (tickSpeed == UpdateFrequency.Update10)
{
factor = 10;
}
else if (tickSpeed == UpdateFrequency.Update100)
{
factor = 100;
}
double secondsPerTick = (1.0 / 60) * factor;
anglePID = new VectorPID(gyroP / factor, gyroI / factor, gyroD / factor, -gyroMax, gyroMax, secondsPerTick);
Reset();
}
public GyroControl(IMyShipController rc)
{
this.rc = rc;
gyros = GetBlocks <IMyGyro>();
anglePID = new VectorPID(18, 0, 3, -1000, 1000, 1.0 / 60);
Reset();
}
public ThrusterControl(IMyShipController rc, UpdateFrequency tickSpeed, List <IMyThrust> thrusters, Mode mode = Mode.Min)
{
if (rc == null)
{
throw new Exception("Ship controller null.");
}
double factor = 1;
if (tickSpeed == UpdateFrequency.Update10)
{
factor = 10;
}
else if (tickSpeed == UpdateFrequency.Update100)
{
factor = 100;
}
double secondsPerTick = (1.0 / 60) * factor;
this.rc = rc;
Dictionary <Base6Directions.Direction, ThrusterGroup> temp = new Dictionary <Base6Directions.Direction, ThrusterGroup>(6);
foreach (IMyThrust t in thrusters)
{
t.ThrustOverride = 0;
t.Enabled = true;
if (temp.ContainsKey(t.Orientation.Forward))
{
temp [t.Orientation.Forward].Add(t);
}
else
{
ThrusterGroup newThrust = new ThrusterGroup(mode);
newThrust.Add(t);
temp.Add(t.Orientation.Forward, newThrust);
}
}
thrust = temp.Values.ToList();
pid = new VectorPID(thrustP / factor, thrustI / factor, thrustD / factor, thrustDecay / factor, secondsPerTick);
}
public ThrusterControl(IMyShipController rc, UpdateFrequency tickSpeed, List <IMyThrust> thrusters)
{
if (rc == null)
{
throw new Exception("Ship controller null.");
}
double factor = 1;
if (tickSpeed == UpdateFrequency.Update10)
{
factor = 10;
}
else if (tickSpeed == UpdateFrequency.Update100)
{
factor = 100;
}
double secondsPerTick = (1.0 / 60) * factor;
pid = new VectorPID(thrustP / factor, thrustI / factor, thrustD / factor, thrustDecay / factor, secondsPerTick);
this.rc = rc;
this.thrusters = thrusters;
Reset();
}
