void Write(string text, IMyCockpit cockpit, bool apnd = false, int screenNumber = 0)
{
//For Control Seat Screens:
// 0 - Center
// 1 - Top Left
// 2 - Top Right
// 3 - Bottom Left
// 4 - Top Left
IMyTextSurface screen = ((IMyTextSurfaceProvider)cockpit).GetSurface(screenNumber);
screen.WriteText(text);
}
public static bool HasThrustersInEveryDirection(this IMyCubeGrid Grid, IMyCockpit _cockpit = null)
{
IMyCockpit Cockpit = _cockpit != null ? _cockpit : GetFirstCockpit(Grid);
if (Cockpit == null)
{
return(false);
}
List <IMyThrust> Thrusters = Grid.GetWorkingBlocks <IMyThrust>();
if (Thrusters.Count < 6)
{
return(false); // There physically can't be a thruster in every direction
}
bool HasForwardThrust = false;
bool HasBackwardThrust = false;
bool HasUpThrust = false;
bool HasDownThrust = false;
bool HasLeftThrust = false;
bool HasRightThrust = false;
foreach (IMyThrust Thruster in Grid.GetWorkingBlocks <IMyThrust>())
{
if (Thruster.WorldMatrix.Forward == Cockpit.WorldMatrix.Forward)
{
HasForwardThrust = true;
}
else if (Thruster.WorldMatrix.Forward == Cockpit.WorldMatrix.Backward)
{
HasBackwardThrust = true;
}
else if (Thruster.WorldMatrix.Forward == Cockpit.WorldMatrix.Up)
{
HasUpThrust = true;
}
else if (Thruster.WorldMatrix.Forward == Cockpit.WorldMatrix.Down)
{
HasDownThrust = true;
}
else if (Thruster.WorldMatrix.Forward == Cockpit.WorldMatrix.Left)
{
HasLeftThrust = true;
}
else if (Thruster.WorldMatrix.Forward == Cockpit.WorldMatrix.Right)
{
HasRightThrust = true;
}
}
return(HasForwardThrust && HasBackwardThrust && HasUpThrust && HasDownThrust && HasLeftThrust && HasRightThrust);
}
public Program()
{
cockpit = GridTerminalSystem.GetBlockWithName("Azimuth Open Cockpit") as IMyCockpit;
//roterR1 = GridTerminalSystem.GetBlockWithName("Arm R1") as IMyMotorStator;
//roterR2 = GridTerminalSystem.GetBlockWithName("Arm R2") as IMyMotorStator;
//roterL1 = GridTerminalSystem.GetBlockWithName("Arm L1") as IMyMotorStator;
//roterL2 = GridTerminalSystem.GetBlockWithName("Arm L2") as IMyMotorStator;
//text = GridTerminalSystem.GetBlockWithName("Text panel") as IMyTextPanel;
targetAngle = Vector2.Zero;
Runtime.UpdateFrequency = UpdateFrequency.Update1;
elevationAngle = 0f;
azimuthangle = 0f;
}
private bool CollectBlocks(IMyTerminalBlock block)
{
if (Me.CubeGrid.EntityId != block.CubeGrid.EntityId)
{
return(false);
}
if (block is IMyCockpit && block.CustomName.Contains("[SPINMINER]"))
{
Cockpit = (IMyCockpit)block;
Displays.Add(Cockpit.GetSurface(0));
}
return(false);
}
public override void Init(MyObjectBuilder_EntityBase objectBuilder)
{
this.objectBuilder = objectBuilder;
try
{
cockpit = (IMyCockpit)Entity;
updateHook = true;
CoreHolo.UpdateHook += Update; //constrain its position
}
catch (Exception ex)
{
Log.DebugWrite(DebugLevel.Error, ex);
}
}
public Spaceship(IMyGridTerminalSystem system, IMyIntergridCommunicationSystem igc)
{
this.system = system;
this.igc = igc;
cpu = FindRunningPB(system);
control = FindBlockOfType <IMyRemoteControl>(system, this, Settings.TAG);
connector = FindBlockOfType <IMyShipConnector>(system, this, Settings.TAG);
debug = FindBlockOfType <IMyTextPanel>(system, this, Settings.TAG);
if (debug == null)
{
IMyCockpit cockpit = FindBlockOfType <IMyCockpit>(system, this, Settings.TAG);
if (cockpit.SurfaceCount > 0)
{
debug = cockpit.GetSurface(0);
}
}
debug.Font = "Monospace";
debug.ContentType = ContentType.TEXT_AND_IMAGE;
/*
* screen = cockpit.GetSurface(0);
* screen.ContentType = ContentType.SCRIPT;
* MySpriteDrawFrame frame = screen.DrawFrame();
*
*
* frame.Add(new MySprite(SpriteType.TEXTURE, "SquareSimple", new Vector2(0, 0), new Vector2(512, 512), Color.Black));
* frame.Add(MySprite.CreateText("Ftiaxe Me!!!", "DEBUG", Color.White));
* frame.Dispose();
*/
listener = igc.RegisterBroadcastListener(Settings.COMM_CHANNEL);
listener = igc.RegisterBroadcastListener(Settings.COMM_CHANNEL);
listener.SetMessageCallback(Settings.COMM_CHANNEL);
thrusters = new ThrustersManager(this, control, system);
autopilot = new Autopilot(this, control, FindBlockOfType <IMyGyro>(system, this));
cas = new CollisionAvoidanceSystem(this);
fd = new FlightDirector(this);
if (connector.Status == MyShipConnectorStatus.Connected)
{
flags = SpaceshipFlags.Dock;
}
else
{
flags = SpaceshipFlags.Idle;
}
}
public Program()
{
Runtime.UpdateFrequency = UpdateFrequency.Update1;
mainCockpit = (IMyCockpit)GridTerminalSystem.GetBlockWithName(MainCockpitName);
foreach (string name in AirlockDoorNames)
{
string[] names = name.Split(';');
Airlock airlock = new Airlock(names[0], names[1], AirlockTimer);
airlock.D1 = GridTerminalSystem.GetBlockWithName(names[0]) as IMyDoor;
airlock.D2 = GridTerminalSystem.GetBlockWithName(names[1]) as IMyDoor;
airlocks.Add(airlock);
}
}
public AdvanceControlShip(IMyRemoteControl remote)
{
m_shipControl = remote;
m_cockpit = null;
m_remote = remote;
Matrix cockOrientation = new Matrix();
m_shipControl.Orientation.GetMatrix(out cockOrientation);
rotation_Bcockpit_2_Bship = cockOrientation;
rotation_Bship_2_Bcockpit = MatrixD.Transpose(rotation_Bcockpit_2_Bship); //Transpose is quicker than invert, and equivalent in this case
lcd1 = null;
}
public Program()
{
rotersR = new List <IMyTerminalBlock>();
rotersL = new List <IMyTerminalBlock>();
gunner = GridTerminalSystem.GetBlockWithName("Azimuth Open Cockpit No Oxygen") as IMyCockpit;
cockpit = GridTerminalSystem.GetBlockWithName("Azimuth Passenger Seat") as IMyCockpit;
roter1 = GridTerminalSystem.GetBlockWithName("Rotor Turret") as IMyMotorBase;
roter2 = GridTerminalSystem.GetBlockWithName("Two-ended Motor") as IMyMotorBase;
GridTerminalSystem.GetBlockGroupWithName("RotersR").GetBlocks(rotersR);
GridTerminalSystem.GetBlockGroupWithName("RotersL").GetBlocks(rotersL);
text = GridTerminalSystem.GetBlockWithName("Text panel") as IMyTextPanel;
Runtime.UpdateFrequency = UpdateFrequency.Update1;
}
void SetCockpitScreenText(IMyCockpit cockpit, int screenNumber, string text)
{
try
{
if (screenNumber + 1 <= cockpit.SurfaceCount)
{
IMyTextSurface lcdControl = cockpit.GetSurface(screenNumber);
lcdControl.ContentType = VRage.Game.GUI.TextPanel.ContentType.TEXT_AND_IMAGE;
lcdControl.WriteText(text);
}
}
catch
{
}
}
bool FuncTest(IMyCockpit block)
{
//Cockpit
//Control Station
//Flight Seat
//Passenger Seat
//Interface name: IMyCockpit
//Parent: IMyShipController
//Fields:
bool ControlWheels = block.ControlWheels;
bool ControlThrusters = block.ControlThrusters;
bool HandBrake = block.HandBrake;
bool DampenersOverride = block.DampenersOverride;
return(true);
}
public InventoriesController(CoordinatesTransformer tformer, IMyGridTerminalSystem gts, IMyCockpit cockpit, double idealCenterOfMass, IProcessSpawner spawner)
{
this._cpit = cockpit;
this._idealCoM = idealCenterOfMass;
var containers = new List <IMyCargoContainer>();
gts.GetBlocksOfType(containers, c => c.CubeGrid == cockpit.CubeGrid);
this._invs = containers
.Select(c => new Inventory(c, tformer.Pos(c.GetPosition()).Z))
.OrderBy(inv => inv.Z)
.ToList();
gts.GetBlocksOfType(this._lights, light => light.DisplayNameText.StartsWith("BM Spotlight") &&
!light.DisplayNameText.Contains("Rear"));
spawner.Spawn(p => this.updateDrills(), "drill-updater");
this._invAction = spawner.Spawn(p => this.updateInventories(tformer.Pos(cockpit.CenterOfMass).Z), "inv-handle", period: 100);
}
public Program()
{
// The constructor, called only once every session and
// always before any other method is called. Use it to
// initialize your script.
//
// The constructor is optional and can be removed if not
// needed.
this.block = Me;
surface = (IMyTextPanel)GridTerminalSystem.GetBlockWithName("Panel");
sensor = (IMySensorBlock)GridTerminalSystem.GetBlockWithName("Sensor");
cockpit = (IMyCockpit)GridTerminalSystem.GetBlockWithName("Azimuth Open Cockpit");
// set surface contentType
// this is selecting type on terminal
surface.ContentType = ContentType.SCRIPT;
Runtime.UpdateFrequency = UpdateFrequency.Update1;
}
void ParseCockpitConfigData(IMyCockpit cockpit)
{
if (!cockpit.CustomData.Contains(sectionTag))
{
cockpit.CustomData += $"[{sectionTag}]\n{cockpitRangeFinderKey}={cockpitRangeFinderSurface}\n";
}
MyIniParseResult result;
myIni.TryParse(cockpit.CustomData, sectionTag, out result);
if (!string.IsNullOrEmpty(myIni.Get(sectionTag, cockpitRangeFinderKey).ToString()))
{
cockpitRangeFinderSurface = myIni.Get(sectionTag, cockpitRangeFinderKey).ToInt32();
SURFACES.Add(cockpit.GetSurface(cockpitRangeFinderSurface));
}
}
Program()
{
gts = GridTerminalSystem;
cockpit = gts.GetBlockWithName(COCKPIT) as IMyCockpit;
sound = gts.GetBlockGroupWithName(SOUND) as IMySoundBlock;
radar = new Radar(RADAR);
arta = new Artillery(ARTA, cockpit, 1200, 900);
Torpedos = new List <Torpedo>();
InitializeTorpedos();
WolfPackDelays = new List <int>();
lcd = gts.GetBlockWithName(LCD) as IMyTextPanel;
if (lcd == null)
{
lcd = cockpit.GetSurface(0) as IMyTextPanel;
}
}
void LoadConf()
{
if (Me.CustomData == prevCustomData)
{
return;
}
var conf = Me.CustomData.LoadDict();
cockpitName = conf.GetValue("Cockpit", null);
cachedCockpit = null;
rotorYawName = conf.GetValue("RotorYaw", null);
rotorPitchName = conf.GetValue("RotorPitch", null);
prevCustomData = Me.CustomData;
pistonXName = conf.GetValue("PistonZ", null);
pistonZName = conf.GetValue("PistonX", null);
}
public Program()
{
//myBlockGroupRightArm = new List<IMyTerminalBlock>();
//myBlockGroupLeftArm = new List<IMyTerminalBlock>();
//myBlockGroupRightLegh = new List<IMyTerminalBlock>();
//myBlockGroupLeftLegh = new List<IMyTerminalBlock>();
Gyros = new List <IMyGyro>();
thrusters = new List <IMyThrust>();
myBlockGroupMain = new List <IMyTerminalBlock>();
cockpit = GridTerminalSystem.GetBlockWithName("Azimuth Open Cockpit No Oxygen 3") as IMyCockpit;
myCamera = GridTerminalSystem.GetBlockWithName("Camera") as IMyCameraBlock;
GridTerminalSystem.GetBlocksOfType(thrusters);
GridTerminalSystem.GetBlockGroupWithName("Main Thrusters").GetBlocks(myBlockGroupMain);
GridTerminalSystem.GetBlocksOfType(Gyros);
text = GridTerminalSystem.GetBlockWithName("LCD Panel") as IMyTextPanel;
Runtime.UpdateFrequency = UpdateFrequency.Update1;
}
public Program()
{
_buttonEnabled = new bool[2][];
_buttonEnabled[0] = new bool[9];
_buttonEnabled[1] = new bool[9];
_buttonText = new string[2][];
_buttonText[0] = new string[9];
_buttonText[1] = new string[9];
_buttonData = new PressedButton[2][];
_buttonData[0] = new PressedButton[9];
_buttonData[1] = new PressedButton[9];
_oreStatus = new MaterialStatus();
_ignotStatus = new MaterialStatus();
// Find LCD Displays
if (!InitDisplays())
{
Echo("ERROR ON STARTUP: LCD ERROR");
return;
}
// Get Blocks we care about
_cockpit = GridTerminalSystem.GetBlockWithName("ACockpit") as IMyCockpit;
_assembler = GridTerminalSystem.GetBlockWithName("Assembler") as IMyAssembler;
_oreCargo = GridTerminalSystem.GetBlockWithName("Ore Cargo Bin") as IMyCargoContainer;
_ignotCargo = GridTerminalSystem.GetBlockWithName("Ignot Cargo Bin") as IMyCargoContainer;
_materialCargo = GridTerminalSystem.GetBlockWithName("Material Cargo Bin") as IMyCargoContainer;
_bay1Connector = GridTerminalSystem.GetBlockWithName("Bay 1 Connector") as IMyShipConnector;
_bay2Connector = GridTerminalSystem.GetBlockWithName("Bay 2 Connector") as IMyShipConnector;
_bay3Connector = GridTerminalSystem.GetBlockWithName("Bay 3 Connector") as IMyShipConnector;
_bay4Connector = GridTerminalSystem.GetBlockWithName("Bay 4 Connector") as IMyShipConnector;
////Runtime.UpdateFrequency = UpdateFrequency.Update100;
init = true;
Echo("Startup complete");
StartWizard();
}
public Program()
{
commands["cycle"] = Cycle;
commands["enable"] = Enable;
cockpit = GridTerminalSystem.GetBlockWithName("Fighter Cockpit") as IMyCockpit;
camera = GridTerminalSystem.GetBlockWithName("Proximity Camera") as IMyCameraBlock;
camera.EnableRaycast = true;
proximityLCD = cockpit.GetSurface(2);
altitudeLCD = cockpit.GetSurface(3);
hinges = new List <IMyMotorStator>();
pistons = new List <IMyPistonBase>();
GridTerminalSystem.GetBlockGroupWithName("Landing Gear Hinges").GetBlocksOfType(hinges);
GridTerminalSystem.GetBlockGroupWithName("Landing Gear Pistons").GetBlocksOfType(pistons);
Runtime.UpdateFrequency = UpdateFrequency.Update10;
}
public Program()
{
m_Cockpit = GridTerminalSystem.GetBlockWithName("Aquila Cockpit") as IMyCockpit;
m_BatteryIntegrityDisplay = m_Cockpit.GetSurface(BatteryIntegrityDisplayIndex);
GridTerminalSystem.GetBlocksOfType(m_Batteries, a => a is IMyBatteryBlock);
var allBlocks = new List <IMyTerminalBlock>();
GridTerminalSystem.GetBlocksOfType <IMyTerminalBlock>(allBlocks);
foreach (var block in allBlocks)
{
m_AllBlocks.Add(new KeyValuePair <IMyTerminalBlock, IMySlimBlock>(block, block.CubeGrid.GetCubeBlock(block.Position)));
}
m_Gyros = new List <IMyGyro>();
GridTerminalSystem.GetBlocksOfType(m_Gyros, a => a.IsSameConstructAs(m_Cockpit));
Runtime.UpdateFrequency = UpdateFrequency.Update10;
}
public bool Drive(IMyCockpit cockpit)
{
bool returnvalue = false;
nowTime = DateTime.UtcNow;
// if (cockpit.RotationIndicator.X > 0)
// {
// myMotor1.MyMotor.TargetVelocityRad = cockpit.RotationIndicator.X/2;
// }
// else if (cockpit.RotationIndicator.X < 0)
// {
// myMotor1.MyMotor.TargetVelocityRad = cockpit.RotationIndicator.X/2;
// }
// else
// {
// myMotor1.MyMotor.TargetVelocityRad = 0;
// }
// if (cockpit.RotationIndicator.Y > 0)
// {
// myMotor2.MyMotor.TargetVelocityRad = -cockpit.RotationIndicator.Y/2;
// }
// else if (cockpit.RotationIndicator.Y < 0)
// {
// myMotor2.MyMotor.TargetVelocityRad = -cockpit.RotationIndicator.Y/2;
// }
// else
// {
// myMotor2.MyMotor.TargetVelocityRad = 0;
// }
foreach (var item in moters)
{
item.Update();
}
befTime = nowTime;
return(returnvalue);
}
public Program()
{
string[] splitStorage;
if (string.IsNullOrEmpty(Storage))
{
splitStorage = new[] { "", "90", "90" };
}
else
{
splitStorage = Storage.Split(';');
}
var cockpitId = splitStorage[0];
_targetXAngle = float.Parse(splitStorage[1]);
_targetYAngle = float.Parse(splitStorage[2]);
IMyCockpit cockpit = null;
if (!string.IsNullOrEmpty(cockpitId))
{
long id;
long.TryParse(cockpitId, out id);
cockpit = GridTerminalSystem.GetBlockWithId(id) as IMyCockpit;
if (!cockpit.IsMainCockpit)
{
cockpit = null;
}
}
if (cockpit == null)
{
cockpit = GridTerminalSystem.GetMainCockpit();
}
_mainCockpit = cockpit;
_hinges = GridTerminalSystem.GetBlockGroupWithName("ArmHinges").GetBlocksOfType <IMyMotorStator>();
_rotors = GridTerminalSystem.GetBlockGroupWithName("ArmRotors").GetBlocksOfType <IMyMotorStator>();
Runtime.UpdateFrequency = UpdateFrequency.Update1;
}
public Program()
{
this.Runtime.UpdateFrequency = UpdateFrequency.Update1;
var cockpits = new List <IMyCockpit>();
this.GridTerminalSystem.GetBlocksOfType(cockpits, c => c.CubeGrid == this.Me.CubeGrid);
IMyCockpit cockpit = cockpits.First();
this.manager = Process.CreateManager(this.Echo);
var ct = new CoordinatesTransformer(cockpit, this.manager);
var logger = new Logger(this.manager, cockpit.GetSurface(0), new Color(0, 39, 15), new Color(27, 228, 33), this.Echo, 1.0f);
this.cmd = new CommandLine("Small welder", logger.Log, this.manager);
var ini = new IniWatcher(this.Me, this.manager);
var wc = new WheelsController(this.cmd, cockpit, this.GridTerminalSystem, ini, this.manager, ct);
var ac = new ArmController(ini, this, this.cmd, cockpit, wc, this.manager);
var client = new ConnectionClient(ini, this.GridTerminalSystem, this.IGC, this.cmd, this.manager, logger.Log);
var ah = new PilotAssist(this.GridTerminalSystem, ini, logger.Log, this.manager, wc);
ah.AddBraker(client);
}
public Program()
{
gyros = new List <IMyTerminalBlock>();
cockpit = GridTerminalSystem.GetBlockWithName("Azimuth Open Cockpit") as IMyCockpit;
GridTerminalSystem.GetBlockGroupWithName("Gyros").GetBlocks(gyros);
text = GridTerminalSystem.GetBlockWithName("Text panel") as IMyTextPanel;
myMotorR1 = GridTerminalSystem.GetBlockWithName("Hinge R1") as IMyMotorStator;
myMotorR2 = GridTerminalSystem.GetBlockWithName("Hinge R2") as IMyMotorStator;
myMotorR3 = GridTerminalSystem.GetBlockWithName("Hinge R3") as IMyMotorStator;
myMotorL1 = GridTerminalSystem.GetBlockWithName("Hinge L1") as IMyMotorStator;
myMotorL2 = GridTerminalSystem.GetBlockWithName("Hinge L2") as IMyMotorStator;
myMotorL3 = GridTerminalSystem.GetBlockWithName("Hinge L3") as IMyMotorStator;
Runtime.UpdateFrequency = UpdateFrequency.Update1;
R1Flg = 0;
L1Flg = 1;
MovingFlg = 0;
}
IMyShipController GetActiveController()
{
IMyShipController sc = null;
bool bHasMain = false;
for (int i = 0; i < controllersList.Count; i++)
{
IMyCockpit imyc = controllersList[i] as IMyCockpit;
if (imyc != null)
{
if (imyc.IsMainCockpit)
{
bHasMain = true;
if (imyc.IsUnderControl)
{
return(imyc);
}
else
{
Echo("Main cockpit not occupied:" + imyc.CustomName);
}
}
}
}
if (bHasMain)
{
return(sc); // there IS a main and it's not occupied.
}
for (int i = 0; i < controllersList.Count; i++)
{
if (((IMyShipController)controllersList[i]).IsUnderControl)
{
sc = controllersList[i] as IMyShipController;
break;
}
}
return(sc);
}
public void Main(string argument, UpdateType updateSource)
{
double levelElevation = 10000.00;
double slowElevation = 8000;
double stopVelocity = 1000;
IMyRemoteControl remoteControl = GridTerminalSystem.GetBlockWithName("Remote Control") as IMyRemoteControl;
IMyGyro gyroscope = GridTerminalSystem.GetBlockWithName("Gyroscope") as IMyGyro;
IMyCockpit cockpit = GridTerminalSystem.GetBlockWithName("Control Seat") as IMyCockpit;
IMyProgrammableBlock autoLevel = (IMyProgrammableBlock)GridTerminalSystem.GetBlockWithName("Prog Block Auto Level");
Echo(remoteControl.CustomName);
Echo(gyroscope.CustomName);
StringBuilder sb = new StringBuilder();
double basicVel = remoteControl.GetShipSpeed();
double elevation;
remoteControl.TryGetPlanetElevation(MyPlanetElevation.Surface, out elevation);
sb.AppendLine($"Vel: {basicVel}\n Elev: {elevation.ToString("0.00")}");
if (stopVelocity <= elevation)
{
sb.AppendLine($"Level Limit Reached");
}
else if (slowElevation <= elevation)
{
sb.AppendLine($"Level Limit Reached");
}
else if (levelElevation <= elevation)
{
sb.AppendLine($"Level Limit Reached");
}
Write(sb.ToString(), cockpit);
}
public static void KeepHorizon(string arg, ref bool keepHorizon, IMyCockpit cockpit, List <IMyGyro> gyros)
{
switch (arg)
{
case KeepHorizonOffArg:
keepHorizon = false;
break;
case KeepHorizonOnArg:
keepHorizon = true;
break;
}
foreach (var gyro in gyros)
{
gyro.GyroOverride = keepHorizon;
}
if (keepHorizon)
{
Vector3D grav = Vector3D.Normalize(cockpit.GetNaturalGravity());
Vector3D axis = grav.Cross(cockpit.WorldMatrix.Down);
var signal = cockpit.WorldMatrix.Up * cockpit.RollIndicator;
if (grav.Dot(cockpit.WorldMatrix.Down) < 0)
{
axis = Vector3D.Normalize(axis);
}
axis += signal;
foreach (var gyro in gyros)
{
gyro.Yaw = (float)axis.Dot(gyro.WorldMatrix.Up);
gyro.Pitch = (float)axis.Dot(gyro.WorldMatrix.Right);
gyro.Roll = (float)axis.Dot(gyro.WorldMatrix.Backward);
}
}
}
/// <summary>
/// コンストラクタ
/// </summary>
public Program()
{
cockpit = GridTerminalSystem.GetBlockWithName("Azimuth Open Cockpit") as IMyCockpit;
GridTerminalSystem.GetBlockGroupWithName("Gyros").GetBlocks(gyros);
roterR1 = GridTerminalSystem.GetBlockWithName("Hinge R1") as IMyMotorStator;
roterR2 = GridTerminalSystem.GetBlockWithName("Hinge R2") as IMyMotorStator;
roterR3 = GridTerminalSystem.GetBlockWithName("Hinge R3") as IMyMotorStator;
roterL1 = GridTerminalSystem.GetBlockWithName("Hinge L1") as IMyMotorStator;
roterL2 = GridTerminalSystem.GetBlockWithName("Hinge L2") as IMyMotorStator;
roterL3 = GridTerminalSystem.GetBlockWithName("Hinge L3") as IMyMotorStator;
ArmR1 = GridTerminalSystem.GetBlockWithName("Rotor R") as IMyMotorStator;
ArmR2 = GridTerminalSystem.GetBlockWithName("Small Conveyor Hinge R1") as IMyMotorStator;
ArmL1 = GridTerminalSystem.GetBlockWithName("Rotor L") as IMyMotorStator;
ArmL2 = GridTerminalSystem.GetBlockWithName("Small Conveyor Hinge L1") as IMyMotorStator;
mySensor = GridTerminalSystem.GetBlockWithName("Sensor") as IMySensorBlock;
text = GridTerminalSystem.GetBlockWithName("Text panel") as IMyTextPanel;
befTime = DateTime.UtcNow;
buff1 = new LegBase(roterR1, true, roterR2, false, roterR3, true);
buff2 = new LegBase(roterL1, false, roterL2, false, roterL3, true);
Arm1 = new ArmBase(ArmR1, true, ArmR2, false, ArmR2, false);
Arm2 = new ArmBase(ArmL1, false, ArmL2, false, ArmL2, false);
DriveEntity = new HaltClass(buff1, buff2, Arm1, Arm2);
st = "Walk";
Me.CustomData = "Walk";
Runtime.UpdateFrequency = UpdateFrequency.Update1;
nowTime = DateTime.UtcNow;
befTime = DateTime.UtcNow;
}
// This file contains your actual script.
//
// You can either keep all your code here, or you can create separate
// code files to make your program easier to navigate while coding.
//
// In order to add a new utility class, right-click on your project,
// select 'New' then 'Add Item...'. Now find the 'Space Engineers'
// category under 'Visual C# Items' on the left hand side, and select
// 'Utility Class' in the main area. Name it in the box below, and
// press OK. This utility class will be merged in with your code when
// deploying your final script.
//
// You can also simply create a new utility class manually, you don't
// have to use the template if you don't want to. Just do so the first
// time to see what a utility class looks like.
public void Main(string argument, UpdateType updateSource)
{
Runtime.UpdateFrequency = UpdateFrequency.Update1;
IMyCockpit myCockpit = (IMyCockpit)GridTerminalSystem.GetBlockWithName("Cockpit");
List <IMyThrust> forwardthrusters = new List <IMyThrust>();
List <IMyThrust> breakthrusters = new List <IMyThrust>();
forwardthrusters = GetMyForwardThrusts("ThrustForward");
breakthrusters = GetMyBreakThrusts("ThrustBackward");
double speed = myCockpit.GetShipSpeed();
Echo($"ship speed = {speed.ToString()}");
if (speed < 2 && 4 > speed)
{
foreach (IMyThrust forwardThrust in forwardthrusters)
{
forwardThrust.Enabled = true;
forwardThrust.ThrustOverridePercentage = 1;
}
}
else if (speed > 20 && speed < 30)
{
foreach (IMyThrust forwardThrust in forwardthrusters)
{
forwardThrust.Enabled = false;
forwardThrust.ThrustOverridePercentage = 1;
}
}
}
public Program()
{
Runtime.UpdateFrequency = UpdateFrequency.Update1;
rotorBase = GetBlock <IMyMotorStator>("RotorBase");
hingeBase = GetBlock <IMyMotorStator>("HingeBase");
rotorMiddle = GetBlock <IMyMotorStator>("RotorMiddle");
hingeEnd = GetBlock <IMyMotorStator>("HingeEnd");
IMyCockpit cockpit = GetBlock <IMyCockpit>("Controller");
controller = cockpit;
controllerPanel = cockpit.GetSurface(0);
debugPanel = GetBlock <IMyTextSurface>("DebugPanel");
targetPosition = hingeEnd.GetPosition() - hingeBase.GetPosition();
if (Math.Abs(Vector3D.Distance(hingeBase.GetPosition(), rotorMiddle.GetPosition()) -
Vector3D.Distance(rotorMiddle.GetPosition(), hingeEnd.GetPosition())) > 0.1)
{
throw new Exception("Arms have different lengths.");
}
armLength = Vector3D.Distance(hingeBase.GetPosition(), rotorMiddle.GetPosition());
hingeBaseSign = -Math.Sign(Vector3D.Dot(targetPosition, hingeBase.WorldMatrix.Forward));
rotorMiddleSign = -Math.Sign(Vector3D.Dot(hingeBase.WorldMatrix.Right, rotorMiddle.WorldMatrix.Up)) *
hingeBaseSign;
Vector3D rotorMiddleToBase = hingeBase.GetPosition() - rotorMiddle.GetPosition();
rotorMiddleOffset = AngleTowards(rotorMiddle, hingeEnd, Vector3D.Normalize(rotorMiddleToBase));
pidRotor.Init(1, 0.5, 0.01);
pidBase.Init(1, 0.5, 0.01);
pidMid.Init(1, 0.5, 0.01);
locked = true;
}
