private bool Coord(RemoteTech.FlightComputer.Commands.DriveCommand dc, FlightCtrlState fs)
{
float
deg = RTUtil.AngleBetween(RoverHDG, TargetHDG),
speed = RoverSpeed;
Delta = Vector3.Distance(mVessel.CoM, TargetPos);
DeltaT = Delta / speed;
if (Delta > Math.Abs(deg) / 36)
{
fs.wheelThrottle = mThrottlePID.Control(BrakeSpeed(dc.speed, speed) - speed);
if (ForwardAxis != Vector3.zero)
{
fs.wheelSteer = mWheelPID.Control(deg);
}
return(false);
}
else
{
fs.wheelThrottle = 0;
fs.wheelSteer = 0;
mVessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
dc.mode = RemoteTech.FlightComputer.Commands.DriveCommand.DriveMode.Off;
return(true);
}
}
private bool Coord(RemoteTech.FlightComputer.Commands.DriveCommand dc, FlightCtrlState fs)
{
Delta = Vector3.Distance(mVessel.CoM, TargetPos);
DeltaT = Delta / RoverSpeed;
if (Delta > 0)
{
fs.wheelThrottle = (float)throttlePID.Update(RoverSpeed, dc.speed, -1.0, 1.0);
if (ForwardAxis != Vector3.zero)
{
Vector3d actuation = pidController.GetActuation(targetRotation);
float steeringOutput = (float)-steerPID.Update(RTUtil.AngleBetween(RoverHDG, TargetHDG), -1.0, 1.0);
if (mVessel.radarAltitude > minRadarAlt)
{
fs.pitch = Mathf.Clamp((float)actuation.x, -driveLimit, driveLimit);
fs.roll = Mathf.Clamp((float)actuation.y, -driveLimit, driveLimit);
}
fs.yaw = Mathf.Clamp((float)actuation.z, -driveLimit, driveLimit); //keep if u want jet car
fs.wheelSteer = SmoothenWheelSteering(RTUtil.AngleBetween(RoverHDG, TargetHDG), steeringOutput, -dc.steering, dc.steering);
}
return(false);
}
else
{
fs.wheelThrottle = 0;
fs.wheelSteer = 0;
mVessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
dc.mode = RemoteTech.FlightComputer.Commands.DriveCommand.DriveMode.Off;
return(true);
}
}
private bool DistanceHeading(RemoteTech.FlightComputer.Commands.DriveCommand dc, FlightCtrlState fs)
{
float speed = RoverSpeed;
Delta = Math.Abs(dc.target) - Vector3.Distance(RoverOrigPos, mVessel.CoM);
DeltaT = Delta / speed;
if (Delta > 0)
{
fs.wheelThrottle = mThrottlePID.Control(BrakeSpeed(dc.speed, speed) - speed);
if (ForwardAxis != Vector3.zero)
{
fs.wheelSteer = mWheelPID.Control(RTUtil.AngleBetween(RoverHDG, dc.target2));
}
return(false);
}
else
{
fs.wheelThrottle = 0;
fs.wheelSteer = 0;
mVessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, true);
dc.mode = RemoteTech.FlightComputer.Commands.DriveCommand.DriveMode.Off;
return(true);
}
}
