public void Main(string argument, UpdateType updateSource)
{
if (Me.CustomData == "Walk" && st != "Walk")
{
if (DriveEntity.ToString() != "Program+WalkClass")
{
DriveEntity = new WalkClass(buff1, buff2, Arm1, Arm2);
DriveEntity.LLeg.LegStatus = Utilty.PartsMoveEnum.Move_forward;
DriveEntity.LLeg.myMotorThigh.MyMotor.CustomData = "0," + DriveEntity.TargetListForward[0] + "," + "10";
DriveEntity.LLeg.myMotorKnee.MyMotor.CustomData = "0," + DriveEntity.TargetListForward[1] + "," + "10";
DriveEntity.LLeg.myMotorAnkle.MyMotor.CustomData = "0," + DriveEntity.TargetListForward[2] + "," + "10";
DriveEntity.RLeg.LegStatus = Utilty.PartsMoveEnum.Move_Backward;
DriveEntity.RLeg.myMotorThigh.MyMotor.CustomData = "1," + DriveEntity.TargetListBackward[0] + "," + "10";
DriveEntity.RLeg.myMotorKnee.MyMotor.CustomData = "1," + DriveEntity.TargetListBackward[1] + "," + "10";
DriveEntity.RLeg.myMotorAnkle.MyMotor.CustomData = "1," + DriveEntity.TargetListBackward[2] + "," + "10";
st = "Walk";
}
}
else if (Me.CustomData == "Stational" && st != "Stational")
{
if (DriveEntity.ToString() != "Program+HaltClass")
{
DriveEntity = new HaltClass(buff1, buff2, Arm1, Arm2);
DriveEntity.RLeg.myMotorThigh.MyMotor.CustomData = "1," + DriveEntity.TargetListForward[0] + "," + "10";
DriveEntity.RLeg.myMotorKnee.MyMotor.CustomData = "1," + DriveEntity.TargetListForward[1] + "," + "10";
DriveEntity.RLeg.myMotorAnkle.MyMotor.CustomData = "1," + DriveEntity.TargetListForward[2] + "," + "10";
DriveEntity.LLeg.myMotorThigh.MyMotor.CustomData = "0," + DriveEntity.TargetListForward[0] + "," + "10";
DriveEntity.LLeg.myMotorKnee.MyMotor.CustomData = "0," + DriveEntity.TargetListForward[1] + "," + "10";
DriveEntity.LLeg.myMotorAnkle.MyMotor.CustomData = "0," + DriveEntity.TargetListForward[2] + "," + "10";
st = "Stational";
}
}
else if (Me.CustomData == "Ready" && st != "Ready")
{
if (DriveEntity.ToString() != "Program+ReadyClass")
{
DriveEntity = new ReadyClass(buff1, buff2, Arm1, Arm2);
st = "Ready";
}
}
else if (Me.CustomData == "ShutDown" && st != "ShutDown")
{
if (DriveEntity.ToString() != "Program+ShutDown")
{
DriveEntity = new ShutDown(buff1, buff2, Arm1, Arm2);
st = "ShutDown";
}
}
else if (Me.CustomData == "Run" && st != "Run")
{
if (DriveEntity.ToString() != "Program+RunClass")
{
DriveEntity = new RunClass(buff1, buff2, Arm1, Arm2);
DriveEntity.LLeg.LegStatus = Utilty.PartsMoveEnum.Move_forward;
DriveEntity.LLeg.myMotorThigh.MyMotor.CustomData = "0," + DriveEntity.TargetListForward[0] + "," + "10";
DriveEntity.LLeg.myMotorKnee.MyMotor.CustomData = "0," + DriveEntity.TargetListForward[1] + "," + "10";
DriveEntity.LLeg.myMotorAnkle.MyMotor.CustomData = "0," + DriveEntity.TargetListForward[2] + "," + "10";
DriveEntity.RLeg.LegStatus = Utilty.PartsMoveEnum.Move_Backward;
DriveEntity.RLeg.myMotorThigh.MyMotor.CustomData = "1," + DriveEntity.TargetListBackward[0] + "," + "10";
DriveEntity.RLeg.myMotorKnee.MyMotor.CustomData = "1," + DriveEntity.TargetListBackward[1] + "," + "10";
DriveEntity.RLeg.myMotorAnkle.MyMotor.CustomData = "1," + DriveEntity.TargetListBackward[2] + "," + "10";
st = "Run";
}
}
else if (Me.CustomData == "KneeFire" && st != "KneeFire")
{
if (DriveEntity.ToString() != "Program+HaltClass" || st != "KneeFire")
{
DriveEntity = new HaltClass(buff1, buff2, Arm1, Arm2);
DriveEntity.LLeg.LegStatus = Utilty.PartsMoveEnum.Move_forward;
DriveEntity.LLeg.myMotorThigh.MyMotor.CustomData = "0,0,10";
DriveEntity.LLeg.myMotorKnee.MyMotor.CustomData = "0,80,10";
DriveEntity.LLeg.myMotorAnkle.MyMotor.CustomData = "0,-30,10";
DriveEntity.RLeg.LegStatus = Utilty.PartsMoveEnum.Move_Backward;
DriveEntity.RLeg.myMotorThigh.MyMotor.CustomData = "0,110,10";
DriveEntity.RLeg.myMotorKnee.MyMotor.CustomData = "0,80,10";
DriveEntity.RLeg.myMotorAnkle.MyMotor.CustomData = "0,-10,10";
st = "KneeFire";
}
}
Vector3 move = cockpit.MoveIndicator;
Vector2 Rota = cockpit.RotationIndicator;
float Roll = cockpit.RollIndicator;
var str = "";
var Orientation = cockpit.WorldMatrix.Forward;
if (move.Z < 0)
{
//str = str + "Drive Forword";
DriveEntity.ctrlStatus = Utilty.StatusEnum.Forword;
}
else if (move.Z > 0)
{
//str = str + "Drive Back";
DriveEntity.ctrlStatus = Utilty.StatusEnum.Back;
}
else
{
//str = str + "Drive Halt";
DriveEntity.ctrlStatus = Utilty.StatusEnum.Halt;
}
//str = str + "Drive Before";
DriveEntity.Drive();
if (Me.CustomData == "Stational")
{
}
else if (Me.CustomData != "ShutDown")
{
// DriveEntity.armTarget(cockpit);
// DriveEntity.AimTarget_sensor(mySensor);
}
//str = str + "Drive End \n";
text.WritePublicText(str);
Log();
nowTime = DateTime.UtcNow;
// GyroControl();
befTime = nowTime;
}