public Program()
{
// Retrieve the blocks we're going to use.
blocks = new ExpectedBlocks(GridTerminalSystem);
_panelLight = blocks.GetBlock <IMyInteriorLight>("Interior Light");
_textPanel = blocks.GetBlock <IMyTextPanel>("LCD Panel");
}
public Program()
{
// Load state if state was saved previously.
int savedState;
if (int.TryParse(Storage, out savedState))
{
state = (State)savedState;
}
else
{
state = State.WaitingForPayload;
}
// Find all needed blocks.
blocks = new ExpectedBlocks(GridTerminalSystem);
blocks.FindBlock <IMyTextPanel>(CRANE_ARM_STATUS_PANEL);
blocks.FindBlock <IMyPistonBase>(CRANE_ARM_PISTON);
blocks.FindBlock <IMyMotorStator>(CRANE_ARM_ROTOR);
blocks.FindBlocks <IMyThrust>(CRANE_ARM_THRUSTER, 6);
blocks.FindBlocks <IMyShipConnector>(CRANE_ARM_CONNECTOR, 3);
blocks.FindBlocks <IMyPistonBase>(CRANE_LIFT_PISTON, 2);
// Initialize other utility classes.
thrustControl = new ThrustControl(blocks);
payloadPickupStateMachine = new PayloadPickupStateMachine(blocks);
payloadTransportStateMachine = new PayloadTransportStateMachine(blocks, thrustControl);
craneArmResetStateMachine = new CraneArmResetStateMachine(blocks, thrustControl);
// Start update loop.
Runtime.UpdateFrequency |= UpdateFrequency.Update1;
}
public ThrustControl(ExpectedBlocks blocks)
{
thrusters = blocks.GetBlocks <IMyThrust>(CRANE_ARM_THRUSTER);
rotor = blocks.GetBlock <IMyMotorStator>(CRANE_ARM_ROTOR);
piston = blocks.GetBlock <IMyPistonBase>(CRANE_ARM_PISTON);
thrust = thrusters[0].ThrustOverride / 1000;
targetAngle = BOTTOM_ANGLE;
previousAngle = ConvertAngle(rotor.Angle);
speedHistory = new float[60];
accelerationHistory = new float[120];
}
public PayloadTransportStateMachine(ExpectedBlocks blocks, ThrustControl thrustControl)
{
craneArmRotor = blocks.GetBlock <IMyMotorStator>(CRANE_ARM_ROTOR);
craneLiftPistons = blocks.GetBlocks <IMyPistonBase>(CRANE_LIFT_PISTON);
this.thrustControl = thrustControl;
}
public Program()
{
blocks = new ExpectedBlocks(GridTerminalSystem);
blocks.FindBlocks <IMyLightingBlock>("Interior Light", -1);
blocks.FindBlocks <IMyLightingBlock>("Corner Light", -1);
}
public Program()
{
blocks = new ExpectedBlocks(GridTerminalSystem);
blocks.FindBlocks <IMyPistonBase>(PISTON_DOOR, 2);
blocks.FindBlocks <IMyMotorStator>(ROTOR_DOOR_POWER, 2);
}
public PayloadPickupStateMachine(ExpectedBlocks blocks)
{
craneLiftPistons = blocks.GetBlocks <IMyPistonBase>(CRANE_LIFT_PISTON);
craneConnectors = blocks.GetBlocks <IMyShipConnector>(CRANE_ARM_CONNECTOR);
}
public CraneArmResetStateMachine(ExpectedBlocks blocks, ThrustControl thrustControl)
{
craneLiftPistons = blocks.GetBlocks <IMyPistonBase>(CRANE_LIFT_PISTON);
this.thrustControl = thrustControl;
}
