public Program()
{
remoteControl = GridTerminalSystem.GetBlockWithName(NAME_REMOTE) as IMyRemoteControl;
if (remoteControl != null)
{
Echo("init OK");
Echo("IsAutoPilotEnabled: " + remoteControl.IsAutoPilotEnabled);
Echo("SpeedLimit: " + remoteControl.SpeedLimit);
Echo("FlightMode: " + remoteControl.FlightMode); // Patrol, Circle, OneWay
remoteControl.GetActions(resultList);
foreach (var item in resultList)
{
Echo(" action: " + item.Name.ToString());
}
}
else
{
Echo("init ERROR");
}
}
//Primary Generic Functions
//==========================
//Use For General Drone Flying:
void RC_Manager(Vector3D TARGET, IMyRemoteControl RC, bool TURN_ONLY)
{
//Uses Rotation Control To Handle Max Rotational Velocity
//---------------------------------------------------------
if (RC.GetShipVelocities().AngularVelocity.AbsMax() > PrecisionMaxAngularVel)
{
print("转动速度放缓"); RC.SetAutoPilotEnabled(false); return;
}
//Setup Of Common Variables
//--------------------------------------------
Vector3D DronePosition = RC.GetPosition();
Vector3D Drone_To_Target = Vector3D.Normalize(TARGET - DronePosition);
//Override Direction Detection
//-------------------------------
double To_Target_Angle = Vector3D.Dot(Vector3D.Normalize(RC.GetShipVelocities().LinearVelocity), Drone_To_Target);
double Ship_Velocity = RC.GetShipVelocities().LinearVelocity.Length();
//Turn Only: (Will drift ship automatically)
//--------------------------------------------
/*List<MyWaypointInfo> way = new List<MyWaypointInfo>();
* RC.GetWaypointInfo(way);
* if (way.Count>0)
* {
* if (way[0].Coords!= TARGET)
* {
* //RC.ApplyAction("AutoPilot_Off");
* //RC.ClearWaypoints();
* }
* }*/
if (TURN_ONLY)
{
//if (way.Count <1)
{
RC.ClearWaypoints();
GYRO.GyroOverride = false;
RC.AddWaypoint(TARGET, "母船起点");
RC.FlightMode = FlightMode.OneWay;
RC.Direction = Base6Directions.Direction.Forward;
RC.ApplyAction("AutoPilot_On");
RC.ApplyAction("CollisionAvoidance_Off");
RC.ControlThrusters = false;
}
return;
}
//Drift Cancellation Enabled:
//-----------------------------
if (To_Target_Angle < 0.4 && Ship_Velocity > 3)
{
//Aim Gyro To Reflected Vector
Vector3D DRIFT_VECTOR = Vector3D.Normalize(RC.GetShipVelocities().LinearVelocity);
Vector3D REFLECTED_DRIFT_VECTOR = -1 * (Vector3D.Normalize(Vector3D.Reflect(DRIFT_VECTOR, Drone_To_Target)));
Vector3D AIMPINGPOS = (-1 * DRIFT_VECTOR * 500) + DronePosition;
//if (way.Count < 1 )
{
RC.ClearWaypoints();
GYRO.GyroOverride = false;
RC.AddWaypoint(AIMPINGPOS, "AIMPINGPOS");
RC.SpeedLimit = 100;
RC.FlightMode = FlightMode.OneWay;
RC.Direction = Base6Directions.Direction.Forward;
RC.ApplyAction("AutoPilot_On");
RC.ApplyAction("CollisionAvoidance_Off");
}
}
//System Standard Operation:
//---------------------------
else
{
//Assign To RC, Clear And Refresh Command
List <ITerminalAction> action = new List <ITerminalAction>();
RC.GetActions(action);
RC.ControlThrusters = true;
RC.ClearWaypoints();
GYRO.GyroOverride = false;
RC.AddWaypoint(TARGET, "目标");
RC.SpeedLimit = 100;
RC.FlightMode = FlightMode.OneWay;
RC.Direction = Base6Directions.Direction.Forward;
RC.ApplyAction("AutoPilot_On");
RC.ApplyAction("DockingMode_Off");
RC.ApplyAction("CollisionAvoidance_On");
}
}
