public override IDictionary <string, object> GetDebugInfo()
{
var info = base.GetDebugInfo();
var homeDistance = HomePosition.TotalDistance2D(CurrentPosition);
info.Add("homePositionX", HomePosition.intX);
info.Add("homePositionY", HomePosition.intY);
info.Add("homeRange", HomeRange);
info.Add("homeDistance", homeDistance);
info.Add("coreMax", CoreMax);
info.Add("coreCurrent", Core);
info.Add("bestCombatRange", BestCombatRange);
var currentAI = AI.Current;
if (currentAI != null)
{
info.Add("fsm", currentAI.GetType().Name);
}
info.Add("threat", _threatManager.ToDebugString());
_group?.AddDebugInfoToDictionary(info);
info.Add("ismission", GetMissionGuid() != Guid.Empty);
return(info);
}
public static HomePosition CreateHomePosition2()
{
var Y = 10.4;
HomePosition homePosition = new HomePosition(new LegPosition(11.4, Y, 0.0), new LegPosition(-11.4, Y, 0.0),
new LegPosition(11.4, Y, 0.0), new LegPosition(-11.4, Y, 0.0),
new LegPosition(11.4, Y, 0.0), new LegPosition(-11.4, Y, 0.0));
return homePosition;
}
public static HomePosition CreateHomePosition4()
{
var Y = 10.4;
HomePosition homePosition = new HomePosition(
new LegPosition(5.7, Y, -9.8726896031426),
new LegPosition(-5.7, Y, -9.8726896031426),
new LegPosition(11.4, Y, 0.0),
new LegPosition(-11.4, Y, 0.0),
new LegPosition(5.7, Y, 9.8726896031426),
new LegPosition(-5.7, Y, 9.8726896031426)
);
return homePosition;
}
public static Phoenix CreatePhoenix(HomePosition startPosition)
{
Phoenix phoenix = new Phoenix
{
LeftFrontLeg = createLeg(Side.Left, Position.Front, 60, 1, 3, 5, 4.3, -8.2, startPosition.LeftFrontLeg),
RightFrontLeg = createLeg(Side.Right, Position.Front, -60, 2, 4, 6, -4.3, -8.2, startPosition.RightFrontLeg),
LeftMiddleLeg = createLeg(Side.Left, Position.Middle, 0, 7, 9, 11, 6.3, 0, startPosition.LeftMiddleLeg),
RightMiddleLeg = createLeg(Side.Right, Position.Middle, 0, 8, 10, 12, -6.3, 0, startPosition.RightMiddleLeg),
LeftRearLeg = createLeg(Side.Left, Position.Rear, -60, 13, 15, 17, 4.3, 8.2, startPosition.LeftRearLeg),
RightRearLeg = createLeg(Side.Right, Position.Rear, 60, 14, 16, 18, -4.3, 8.2, startPosition.RightRearLeg)
};
phoenix.MoveBody(0, 90);// calculates start posisions for angles
return phoenix;
}
public void ParseHomedStatus(string data)
{
string[] values = data.TrimEnd(']').Split(':');
if (values.Length == 3)
{
HomePosition.Parse(values[1]);
AxisHomed.Value = (AxisFlags)int.Parse(values[2]);
for (int i = 0; i < GrblInfo.NumAxes; i++)
{
if (!AxisHomed.Value.HasFlag(GrblInfo.AxisIndexToFlag(i)))
{
HomePosition.Values[i] = double.NaN;
}
}
}
}
public static HomePosition CreateHomePosition5()
{
var Y = 17;
HomePosition homePosition = new HomePosition(
new LegPosition(5.7/2, Y, -9.8726896031426/2),
new LegPosition(-5.7 / 2, Y, -9.8726896031426 / 2),
new LegPosition(11.4 / 2, Y, 0.0),
new LegPosition(-11.4 / 2, Y, 0.0),
new LegPosition(5.7 / 2, Y, 9.8726896031426 / 2),
new LegPosition(-5.7 / 2, Y, 9.8726896031426 / 2)
);
return homePosition;
}
private void ReturnHome()
{
GotoPosition(HomePosition.GetValueOrDefault());
}
