public void Tick()
{
DrawOutput();
if (path.points.Count == 0)
{
return;
}
if (travelState != TravelState.Travelling)
{
return;
}
var spline = GetTargetSpline();
var targetDistance = 20;
target = SplineUtils.GetAbsolutePointOnSpline(spline, SplineUtils.GetSplineLength(spline, 5), targetDistance);
if (AtCurrentPoint())
{
// If this is the last point
if (path.points.Count - 1 == currentPointIndex)
{
// Stop moving
travelState = TravelState.AtDestination;
motorControl.SetMotorCommand(MotorControl.MotorCommand.Stopped);
return;
}
else
{
// Or update the point to the next one
currentPointIndex++;
}
}
MotorControl.MotorCommand command = CalculateMotorCommand();
if (!command.Equals(motorControl.LastCommand))
{
motorControl.SetMotorCommand(command);
}
}
void TravellerDump()
{
var spline = traveller.GetTargetSpline();
var targetDistance = 20;
var target = SplineUtils.GetAbsolutePointOnSpline(spline, SplineUtils.GetSplineLength(spline, 5), 100);
Me.GetSurface(0).WriteText(string.Join("\n",
SplineUtils.SampleSplineToLine(spline, 10)
.Select((position, index) => GPS.Stringify(new GPS.Position($"Spline-{index}", position)))
.Concat(
spline.Select((position, index) => GPS.Stringify(new GPS.Position($"Control Points-{index}", position)))
)
.Concat(new List <string>()
{
GPS.Stringify(new GPS.Position("Target", target)),
})
.Concat(
paths[currentPathIndex].points.Select((point, index) => GPS.Stringify(new GPS.Position($"Waypoint Position-{index}", point.position)))
)
.Concat(
paths[currentPathIndex].points.Select((point, index) => GPS.Stringify(new GPS.Position($"Waypoint Direction-{index}", point.position + (point.direction * 3))))
)
));
}