bool DoRoll(double rollAngle, string sPlane = "Roll")
{
//Echo("rollAngle=" + Math.Round(rollAngle,5));
float targetRoll = 0;
IMyGyro gyro = gyros[0] as IMyGyro;
float maxRoll = 60; // gyro.GetMaximum<float>(sPlane);
// float minRoll = gyro.GetMinimum<float>(sPlane);
if (Math.Abs(rollAngle) > 1.0)
{
targetRoll = (float)maxRoll * (float)(rollAngle);
}
else if (Math.Abs(rollAngle) > .7)
{
// need to dampen
targetRoll = (float)maxRoll * (float)(rollAngle) / 4;
}
else if (Math.Abs(rollAngle) > 0.5)
{
targetRoll = 0.11f * Math.Sign(rollAngle);
}
else if (Math.Abs(rollAngle) > 0.1)
{
targetRoll = 0.07f * Math.Sign(rollAngle);
}
else if (Math.Abs(rollAngle) > 0.01)
{
targetRoll = 0.05f * Math.Sign(rollAngle);
}
else if (Math.Abs(rollAngle) > 0.001)
{
targetRoll = 0.035f * Math.Sign(rollAngle);
}
else
{
targetRoll = 0;
}
// Echo("targetRoll=" + targetRoll);
// rollLevel = (int)(targetRoll * 1000);
for (int i = 0; i < gyros.Count; i++)
{
gyro = gyros[i] as IMyGyro;
gyro.SetValueFloat(sPlane, targetRoll);
gyro.SetValueBool("Override", true);
}
return(true);
}
