// Constructor
public AutoPilotManager(IMyGridTerminalSystem myGridTerminalSystem, UIManager uIManager, float powerFactor, int precisionFactor, int scanDistance)
{
List <IMyRemoteControl> controllers = new List <IMyRemoteControl>();
myGridTerminalSystem.GetBlocksOfType(controllers);
foreach (IMyRemoteControl c in controllers)
{
remotePilot = c;
controlReference = remotePilot;
}
wheelController = new WheelController(myGridTerminalSystem, controlReference);
this.powerFactor = powerFactor;
this.precisionFactor = precisionFactor;
maxScanDistance = scanDistance;
state = PilotState.DRIVING;
this.uIManager = uIManager;
collisionController = new CollisionController(myGridTerminalSystem, remotePilot.GetValueBool("CollisionAvoidance"));
uIManager.printOnScreens("service", $"Found {collisionController.cameras.Count} cameras for collision detection.");
}
private double Move()
{
double destination = UpdatePosition();
remotePilot.HandBrake = false;
double tillCollision = -1;
if (remotePilot.GetValueBool("CollisionAvoidance") && state == PilotState.DRIVING)
{
double scanDistance = Math.Min(destination, maxScanDistance);
tillCollision = collisionController.checkForCollisions(scanDistance);
}
if (tillCollision != -1)
{// collision detected, reduce speed and steer right
state = PilotState.AVOID;
Vector3D targetPosition = Vector3D.Transform(new Vector3D(10, 0, 10), controlReference.WorldMatrix);
addObjectiveFirst(targetPosition);
uIManager.printOnScreens("service", "[SYS] Avoiding collision");
return(destination);
}
Cruise(destination, remotePilot.SpeedLimit, RelativeTarget); // Apply Power
return(destination);
}