コード例 #1
0
        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);
            }
        }
コード例 #2
0
        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))))
                                                       )
                                                   ));
        }