void HandleTrigger(string argument)
{
switch (argument)
{
case "GoUp":
_crawlerStatus = CrawlerStatus.GoUp;
_lowerLandingGear.Lock();
_upperLandingGear.Unlock();
ExtendPistons();
break;
case "GoDown":
_crawlerStatus = CrawlerStatus.GoDown;
_upperLandingGear.Lock();
_lowerLandingGear.Unlock();
ExtendPistons();
break;
case "Stop":
_crawlerStatus = CrawlerStatus.Stop;
break;
default:
Echo($"Invalid option: {argument}\n");
break;
}
}
public void Update()
{
UpdatedStatus = false;
UpdatedStride = false;
if (Stopped)
{
_State = LegState.Stopped;
}
if (TargetLeg == LegStatus.Lowered)
{
LandingGear.Lock();
}
UpdateMotor(Rotor1);
UpdateHinge(Hinge1);
UpdateHinge(Hinge2);
UpdateHinge(Hinge3);
UpdateHinge(Hinge4);
if (LandingGear.LockMode != LandingGearMode.Locked)
{
Rotor2.Enabled = true;
Rotor2.TargetVelocityRad = Rotor2.Angle / -2;
}
else
{
Rotor2.Enabled = false;
}
}
public void Main(string argument, UpdateType updateSource)
{
try {
Warnings.Clear();
ResolveOperation();
HandleArgs(argument);
Governor();
CheckUpdateFrequency();
OperationGraphic.Selection = (UInt16)Operations.ToArrayIndex(Operation);
StatusLCDs.WriteText(OperationGraphic.Render(), true);
StatusLCDs.WriteText(RenderMaxImpulseAxis(), true);
ConsoleLCDs.WriteText(RenderMaxImpulseAxis(), true);
ConsoleLCDs.WriteText("Argument: " + (argument ?? "Null") + '\n', true);
ConsoleLCDs.WriteText("UpdateType: " + updateSource.ToString() + '\n', true);
} catch (BlockNullReferenceException BlockNull) {
string ErrorMessageFormatted = "CRITICAL ERROR:\n" + BlockNull.Message;
ConsoleLCDs.WriteText(ErrorMessageFormatted, false);
StatusLCDs.WriteText(ErrorMessageFormatted, false);
StatusLCDs.FlushText();
ConsoleLCDs.FlushText();
throw;
} catch (KlangSafetyException KlangSafety) {
Piston.Enabled = false;
OutRiggerRelease();
Lock.Enabled = false;
Foot.Enabled = true;
Foot.AutoLock = true;
Foot.Lock();
Runtime.UpdateFrequency = UpdateFrequency.None;
string ErrorMessageFormatted = "CRITICAL ERROR:\n" + KlangSafety.Message;
ConsoleLCDs.WriteText(ErrorMessageFormatted, false);
StatusLCDs.WriteText(ErrorMessageFormatted, false);
StatusLCDs.FlushText();
ConsoleLCDs.FlushText();
throw;
} catch (Exception) {
throw;
}
if (Warnings.Count > 0)
{
string WarningMessageFormatted = "|| WARNINGS ||:\n";
foreach (string Warning in Warnings)
{
WarningMessageFormatted += Warning + "\n";
}
WarningMessageFormatted += "|| END OF WARNINGS ||\n\n";
ConsoleLCDs.WriteText(WarningMessageFormatted + ConsoleLCDs.GetText(), false);
StatusLCDs.WriteText(WarningMessageFormatted + StatusLCDs.GetText(), false);
}
Echo(ConsoleLCDs.GetText());
StatusLCDs.FlushText();
ConsoleLCDs.FlushText();
}
private void ToggleGear(IMyLandingGear gear, bool state)
{
if (state)
{
gear.Lock();
gear.AutoLock = true;
}
else
{
gear.Unlock();
gear.AutoLock = false;
}
}
bool TryLockInLGear(double distance)
{
IMyLandingGear clamp = Reference as IMyLandingGear;
clamp.Enabled = true;
if (AutoLockDistance > 0)
{
clamp.AutoLock = distance < AutoLockDistance;
}
if (clamp.LockMode == LandingGearMode.ReadyToLock)
{
clamp.Lock();
}
return(clamp.LockMode == LandingGearMode.Locked);
}
public void GearsLock(bool bLock = true)
{
for (int i = 0; i < gearList.Count; i++)
{
IMyLandingGear g = gearList[i] as IMyLandingGear;
if (g == null)
{
continue;
}
if (bLock)
{
g.Lock();
}
else
{
g.Unlock();
}
// blockApplyAction(gearList[i], "Lock");
}
}
public void Main(string argument, UpdateType updateSource)
{
try
{
switch (argument)
{
case "RUN":
{
if (!running)
{
switch (_state)
{
case State.Closed:
{
_pistonInOut.Reverse();
_timer.TriggerDelay = 0.5f;
_timer.StartCountdown();
_gear.Unlock();
_state = State.Open_Initial;
running = true;
}
break;
case State.Open:
{
_pistonSlide.Reverse();
_timer.TriggerDelay = 5f;
_timer.StartCountdown();
_state = State.Close_Initial;
running = true;
}
break;
}
}
}
break;
case "TIMER":
{
if (running)
{
switch (_state)
{
case State.Open_Initial:
{
_pistonSlide.Reverse();
_timer.TriggerDelay = 5f;
_timer.StartCountdown();
_state = State.Open_Final;
}
break;
case State.Open_Final:
{
_state = State.Open;
running = false;
}
break;
case State.Close_Initial:
{
_pistonInOut.Reverse();
_timer.TriggerDelay = 0.5f;
_timer.StartCountdown();
_state = State.Close_Final;
}
break;
case State.Close_Final:
{
_gear.Lock();
_state = State.Closed;
running = false;
}
break;
}
}
}
break;
}
}
catch (Exception e)
{
EchoText("Error: " + e.Message);
}
}
private static void OutRiggerSecure()
{
Lock.Enabled = true;
Lock.AutoLock = true;
Lock.Lock();
}
protected override void OnExecuting(IMyLandingGear landingGear) => landingGear.Lock();
public Program()
{
var error = false;
_upperLandingGear = GridTerminalSystem.GetBlockWithName("Lower Landing Gear") as IMyLandingGear;
_lowerLandingGear = GridTerminalSystem.GetBlockWithName("Upper Landing Gear") as IMyLandingGear;
_portBaseLandingGear = GridTerminalSystem.GetBlockWithName("Port Base Landing Gear") as IMyLandingGear;
_starboardBaseLandingGear = GridTerminalSystem.GetBlockWithName("Starboard Base Landing Gear") as IMyLandingGear;
_piston1 = GridTerminalSystem.GetBlockWithName("Piston 1") as IMyExtendedPistonBase;
_piston2 = GridTerminalSystem.GetBlockWithName("Piston 2") as IMyExtendedPistonBase;
_piston3 = GridTerminalSystem.GetBlockWithName("Piston 3") as IMyExtendedPistonBase;
if (_upperLandingGear == null)
{
Echo("No top landing gear");
error = true;
}
if (_lowerLandingGear == null)
{
Echo("No bottom landing gear");
error = true;
}
if (_portBaseLandingGear == null)
{
Echo("No port landing gear");
error = true;
}
if (_starboardBaseLandingGear == null)
{
Echo("No starboard landing gear");
error = true;
}
if (_piston1 == null)
{
Echo("No piston #1");
error = true;
}
if (_piston2 == null)
{
Echo("No piston #2");
error = true;
}
if (_piston3 == null)
{
Echo("No piston #3");
error = true;
}
if (error)
{
Echo("Errors found. Please fix and recompile");
return;
}
Runtime.UpdateFrequency = UpdateFrequency.Update10;
_upperLandingGear.AutoLock = false;
_upperLandingGear.Lock();
_lowerLandingGear.AutoLock = false;
_lowerLandingGear.Lock();
_portBaseLandingGear.AutoLock = false;
_starboardBaseLandingGear.AutoLock = false;
_crawlerStatus = CrawlerStatus.Stop;
_init = true;
Echo($"Crawler startup @ {DateTime.Now}");
}