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 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 void Main(string argument, UpdateType updateType)
{
if ((updateType & UpdateType.Update1) == UpdateType.Update1)
{
thrustControl.Update();
blocks.GetBlock <IMyTextPanel>(CRANE_ARM_STATUS_PANEL).WritePublicText("Crane Arm Status\n\n" +
"Program\n" +
" State: " + state.ToString() + "\n\n" +
thrustControl.GetDebugText());
}
if ((updateType & UpdateType.Terminal) == UpdateType.Terminal ||
(updateType & UpdateType.Trigger) == UpdateType.Trigger)
{
switch (argument)
{
case LOW:
thrustControl.Adjust(ThrustControl.BOTTOM_ANGLE);
break;
case HIGH:
thrustControl.Adjust(ThrustControl.TOP_ANGLE);
break;
case PICKUP:
if (state == State.WaitingForPayload)
{
state = State.AcceptingPayload;
stateMachine = payloadPickupStateMachine.GenerateStateMachine();
Runtime.UpdateFrequency |= UpdateFrequency.Once;
}
break;
case DUMP:
if (state == State.WaitingForTransport || state == State.WaitingForPayload)
{
blocks.GetBlocks <IMyShipConnector>(CRANE_ARM_CONNECTOR).ForEach(connector =>
{
connector.Disconnect();
connector.Enabled = false;
});
thrustControl.OverrideThrust(50);
state = State.WaitingForPayload;
}
break;
case TRANSPORT:
if (state == State.WaitingForTransport)
{
state = State.TransportingPayload;
stateMachine = payloadTransportStateMachine.GenerateStateMachine();
Runtime.UpdateFrequency |= UpdateFrequency.Once;
}
break;
case DROPOFF:
if (state == State.WaitingForDropoff)
{
blocks.GetBlocks <IMyShipConnector>(CRANE_ARM_CONNECTOR).ForEach(connector => {
connector.Disconnect();
connector.Enabled = false;
});
state = State.WaitingForReset;
}
break;
case RESET:
state = State.Reseting;
stateMachine = craneArmResetStateMachine.GenerateStateMachine();
Runtime.UpdateFrequency |= UpdateFrequency.Once;
break;
default:
if (argument.Length == 0)
{
Echo("ERROR Missing argument");
}
else
{
Echo("ERROR Unrecognized argument: " + argument);
}
break;
}
}
if ((updateType & UpdateType.Once) == UpdateType.Once)
{
RunStateMachine();
}
}
