private void HardwareOff()
{
VerticalPistons.ForEach(b =>
{
b.Velocity = 0f;
b.SetValue <float>("MaxImpulseAxis", PISTON_MIN_FORCE);
b.SetValue <float>("MaxImpulseNonAxis", PISTON_MIN_FORCE);
b.Enabled = false;
});
HorizontalPistons.ForEach(b =>
{
b.Velocity = 0f;
b.SetValue <float>("MaxImpulseAxis", PISTON_MIN_FORCE);
b.SetValue <float>("MaxImpulseNonAxis", PISTON_MIN_FORCE);
b.Enabled = false;
});
AzimuthRotor.TargetVelocityRad = 0f;
AzimuthRotor.RotorLock = true;
AzimuthRotor.Torque = 0f;
AzimuthRotor.BrakingTorque = 0f;
AzimuthRotor.Enabled = false;
CurrentProgramm = DrillProgrammEnum.None;
ProgrammState = ProgrammStateEnum.None;
}
private void SetRadiusSpeed(float linearSpeed)
{
rad_spd = linearSpeed;
float vel = FadeSpeed(rad_spd, RadiusDeviation()) / HorizontalPistons.Count;
HorizontalPistons.ForEach(b => b.Velocity = vel);
}
private float CurrentRadius()
{
//float R = MIN_RADIUS;
float R = 0f;
HorizontalPistons.ForEach(b => R += b.CurrentPosition);
return(R);
}
private void GotoStartPos()
{
DesiredRadius = radius_min;
DesiredDepth = 0f; // depth_min; через верхнюю точку, в конце опустим
DesiredAngle = angle_min;
Drills.ForEach(b => b.Enabled = false);
SetDepthSpeed(FREE_VELOCITY);
HorizontalPistons.ForEach(b => b.Velocity = 0f);
AzimuthRotor.TargetVelocityRad = 0f;
CurrentProgramm = DrillProgrammEnum.GotoBegin;
ProgrammState = ProgrammStateEnum.MoveVertical;
}
private void GotoHome()
{
DesiredRadius = 0f;
DesiredDepth = 0f;
DesiredAngle = 0f;
Drills.ForEach(b => b.Enabled = false);
SetDepthSpeed(FREE_VELOCITY);
HorizontalPistons.ForEach(b => b.Velocity = 0f);
AzimuthRotor.TargetVelocityRad = 0f;
CurrentProgramm = DrillProgrammEnum.GotoHome;
ProgrammState = ProgrammStateEnum.MoveVertical;
}
private bool CheckRadius(bool correctSpeed)
{
float d = RadiusDeviation();
if (d == 0f)
{
return(true);
}
if (!correctSpeed)
{
return(false);
}
float vel = FadeSpeed(rad_spd, d) / HorizontalPistons.Count;
HorizontalPistons.ForEach(b => b.Velocity = vel);
return(false);
}
private void StartDrill()
{
DesiredDepth = CurrentDepth();
DesiredRadius = CurrentRadius();
if (turn_direction)
{
DesiredAngle = angle_max;
}
else
{
DesiredAngle = angle_min;
}
Drills.ForEach(b => b.Enabled = true);
VerticalPistons.ForEach(b => b.Velocity = 0f);
HorizontalPistons.ForEach(b => b.Velocity = 0f);
SetAngleSpeed(DRILL_VELOCITY);
CurrentProgramm = DrillProgrammEnum.Drill;
ProgrammState = ProgrammStateEnum.Turning;
}
private void HardwareOn()
{
VerticalPistons.ForEach(b =>
{
b.Velocity = 0f;
b.SetValue <float>("MaxImpulseAxis", PISTON_FORCE);
b.SetValue <float>("MaxImpulseNonAxis", PISTON_FORCE);
b.Enabled = true;
});
HorizontalPistons.ForEach(b =>
{
b.Velocity = 0f;
b.SetValue <float>("MaxImpulseAxis", PISTON_FORCE);
b.SetValue <float>("MaxImpulseNonAxis", PISTON_FORCE);
b.Enabled = true;
});
AzimuthRotor.TargetVelocityRad = 0f;
AzimuthRotor.RotorLock = false;
AzimuthRotor.Torque = ROTOR_FORCE;
AzimuthRotor.BrakingTorque = ROTOR_BRAKE_FORCE;
AzimuthRotor.Enabled = true;
}
private void StopMotion()
{
VerticalPistons.ForEach(b => b.Velocity = 0f);
HorizontalPistons.ForEach(b => b.Velocity = 0f);
AzimuthRotor.TargetVelocityRad = 0f;
}
private void InitModule()
{
StringBuilder sb = new StringBuilder();
DebugLCD = FindDisplay(DEBUG_LCD_NAME, GridTerminalSystem, Me);
ToLog("", false, false);
if (!string.IsNullOrEmpty(LCDName))
{
LCD = FindDisplay(LCDName, GridTerminalSystem, Me);
}
ProgBlockLCD = Me.GetSurface(0);
if (LCD == null)
{
sb.AppendLine("Дисплей не обнаружен");
}
HorizontalPistons = FindAllBlocksOfType <IMyPistonBase>(GridTerminalSystem, Me, HORIZONTAL_PISTONS_TAG);
VerticalPistons = FindAllBlocksOfType <IMyPistonBase>(GridTerminalSystem, Me, VERTICAL_PISTONS_TAG);
AzimuthRotor = FindBlockOfType <IMyMotorStator>(null, GridTerminalSystem, Me, AZIMUTH_ROTOR_TAG);
Drills = FindAllBlocksOfType <IMyShipDrill>(GridTerminalSystem, Me);
Containers = FindAllBlocksOfType <IMyCargoContainer>(GridTerminalSystem, Me);
MAX_PISTONS_RADIUS = 0f;
HorizontalPistons.ForEach(b => MAX_PISTONS_RADIUS += b.HighestPosition);
MAX_PISTONS_DEPTH = 0f;
VerticalPistons.ForEach(b => MAX_PISTONS_DEPTH += b.HighestPosition);
if (HorizontalPistons.Count == 0)
{
init_error = true; sb.AppendLine("Гор. поршни не обнаружены!");
}
else
{
sb.AppendFormat("Гор. поршней: {0}\n", HorizontalPistons.Count);
}
if (VerticalPistons.Count == 0)
{
init_error = true; sb.AppendLine("Верт. поршни не обнаружены!");
}
else
{
sb.AppendFormat("Верт. поршней: {0}\n", VerticalPistons.Count);
}
if (AzimuthRotor == null)
{
init_error = true; sb.AppendLine("Ротор не обнаружен!");
}
else
{
sb.AppendLine("Ротор: ОК");
}
if (Drills.Count == 0)
{
init_error = true; sb.AppendLine("Буры не обнаружены!");
}
else
{
sb.AppendFormat("Буров: {0}\n", Drills.Count);
}
if (Containers.Count == 0)
{
init_error = true; sb.AppendLine("Контейнеры не обнаружены!");
}
else
{
sb.AppendFormat("Контейнеров: {0}\n", Containers.Count);
}
init_message = sb.ToString();
ClearPrgSettings();
LoadState();
Echo(init_message);
Runtime.UpdateFrequency = UpdateFrequency.Update10;
if (init_error)
{
Runtime.UpdateFrequency = UpdateFrequency.None;
LCD.WriteText(init_message);
}
}
private bool CheckProgrammState()
{
switch (ProgrammState)
{
case ProgrammStateEnum.None:
{
return(false);
}
case ProgrammStateEnum.MoveVertical:
case ProgrammStateEnum.MoveDown:
{
if (CheckDepth(true))
{
VerticalPistons.ForEach(b => b.Velocity = 0f);
return(true);
}
break;
}
case ProgrammStateEnum.MoveHorizontal:
{
if (CheckRadius(true))
{
HorizontalPistons.ForEach(b => b.Velocity = 0f);
return(true);
}
break;
}
case ProgrammStateEnum.TurningMoveHorisontal:
{
bool flag = true;
if (CheckRadius(true))
{
HorizontalPistons.ForEach(b => b.Velocity = 0f);
}
else
{
flag = false;
}
if (CheckAngle(true))
{
AzimuthRotor.TargetVelocityRad = 0f;
}
else
{
flag = false;
}
return(flag);
}
case ProgrammStateEnum.Turning:
{
if (CheckAngle(true))
{
AzimuthRotor.TargetVelocityRad = 0f;
return(true);
}
break;
}
default:
break;
}
return(false);
}