public void InitMode(DriveCommand dc)
{
UpdateAxis();
mRoverAlt = (float)mVessel.altitude;
mRoverLat = (float)mVessel.latitude;
mRoverLon = (float)mVessel.longitude;
switch (dc.mode)
{
case DriveCommand.DriveMode.Turn:
mRoverRot = mVessel.ReferenceTransform.rotation;
break;
case DriveCommand.DriveMode.Distance:
mWheelPID.setClamp(-1, 1);
mKeepHDG = RoverHDG;
break;
case DriveCommand.DriveMode.DistanceHeading:
mWheelPID.setClamp(-dc.steering, dc.steering);
break;
case DriveCommand.DriveMode.Coord:
mWheelPID.setClamp(-dc.steering, dc.steering);
mTargetLat = dc.target;
mTargetLon = dc.target2;
break;
}
mThrottlePID.Reset();
mWheelPID.Reset();
mVessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, false);
}
public void InitMode(DriveCommand dc)
{
axis = ModuleWheel.AlignmentAxis.None;
foreach (Part p in mVessel.parts)
{
if (p.Modules.Contains("ModuleWheel"))
{
axis = (p.Modules["ModuleWheel"] as ModuleWheel).alignmentAxis;
if (axis != ModuleWheel.AlignmentAxis.None)
{
break;
}
}
}
mRoverAlt = (float)mVessel.altitude;
mRoverLat = (float)mVessel.latitude;
mRoverLon = (float)mVessel.longitude;
switch (dc.mode)
{
case DriveCommand.DriveMode.Turn:
mRoverRot = mVessel.ReferenceTransform.rotation;
break;
case DriveCommand.DriveMode.Distance:
mWheelPID.setClamp(-1, 1);
mKeepHDG = RoverHDG;
break;
case DriveCommand.DriveMode.DistanceHeading:
mWheelPID.setClamp(-dc.steering, dc.steering);
break;
case DriveCommand.DriveMode.Coord:
mWheelPID.setClamp(-dc.steering, dc.steering);
mTargetLat = dc.target;
mTargetLon = dc.target2;
break;
}
mThrottlePID.Reset();
mWheelPID.Reset();
mVessel.ActionGroups.SetGroup(KSPActionGroup.Brakes, false);
}