public Autopilot_Module(GridTerminalSystemUtils GTS, IMyShipController controller, IngameTime ingameTime,
PID_Controller.PIDSettings gyroPidSettings, PID_Controller.PIDSettings thrustPidSettings,
EntityTracking_Module trackingModule) : this(GTS, controller, ingameTime, trackingModule)
{
thrustPidController = new PID_Controller(thrustPidSettings);
gyroControl = new AdvGyroControl(gyroPidSettings, ingameTime);
}
public AdvGyroControl(PID_Controller.PIDSettings pidSettings, IngameTime ingameTime)
{
yawPid = new PID_Controller(pidSettings);
pitchPid = new PID_Controller(pidSettings);
rollPid = new PID_Controller(pidSettings);
this.ingameTime = ingameTime;
}
public Autopilot_Module(GridTerminalSystemUtils GTS, IMyShipController controller, IngameTime ingameTime,
PID_Controller.PIDSettings gyroPidSettings, PID_Controller.PIDSettings thrustPidSettings,
EntityTracking_Module trackingModule)
{
GTS.GridTerminalSystem.GetBlocksOfType(allThrusters);
GTS.GridTerminalSystem.GetBlocksOfType(gyros);
this.controller = controller;
this.ingameTime = ingameTime;
thrustPidController = new PID_Controller(thrustPidSettings);
gyroControl = new AdvGyroControl(gyroPidSettings, ingameTime);
thrustControl = new AdvThrustControl(controller, allThrusters, ingameTime);
collisionAvoidance = new CollisionAvoidance(controller, trackingModule, 10, 10);
trackingModule.onEntityDetected += collisionAvoidance.OnEntityDetected;
}
public Autopilot_Module(GridTerminalSystemUtils GTS, IMyShipController controller, IngameTime ingameTime,
EntityTracking_Module trackingModule)
{
GTS.GridTerminalSystem.GetBlocksOfType(allThrusters);
GTS.GridTerminalSystem.GetBlocksOfType(gyros);
this.controller = controller;
this.ingameTime = ingameTime;
thrustControl = new AdvThrustControl(controller, allThrusters, ingameTime);
collisionAvoidance = new CollisionAvoidance(controller, trackingModule, 10, 10);
trackingModule.onEntityDetected += collisionAvoidance.OnEntityDetected;
PID_Controller.PIDSettings onePid = new PID_Controller.PIDSettings
{
PGain = 1,
DerivativeGain = 0,
IntegralGain = 0,
};
thrustPidController = new PID_Controller(onePid);
gyroControl = new AdvGyroControl(onePid, ingameTime);
}
public AutoPilot(GridTerminalSystemUtils GTS, IMyShipController controller, IngameTime time,
PID_Controller.PIDSettings gyroPidSettings, PID_Controller.PIDSettings thrustPidSettings,
EntityTracking_Module entityTracking)
{
autopilotModule = new Autopilot_Module(GTS, controller, time, gyroPidSettings, thrustPidSettings, entityTracking);
}
IEnumerator <bool> Initialize()
{
cameras = new List <IMyCameraBlock>();
GridTerminalSystem.GetBlocksOfType(cameras, x => x.CubeGrid == Me.CubeGrid);
foreach (var cam in cameras)
{
cam.EnableRaycast = true;
}
yield return(true);
gyros = new List <IMyGyro>();
GridTerminalSystem.GetBlocksOfType(gyros, x => x.CubeGrid == Me.CubeGrid);
yield return(true);
antennaComms = new ACPWrapper(this, x => x.CubeGrid == Me.CubeGrid);
yield return(true);
thrusters = new List <IMyThrust>();
GridTerminalSystem.GetBlocksOfType(thrusters, x => x.CubeGrid == Me.CubeGrid);
yield return(true);
rc = GetBlockWithNameOnGrid(RCNAME) as IMyRemoteControl;
yield return(true);
mainCam = GetBlockWithNameOnGrid(MAINCAM) as IMyCameraBlock;
yield return(true);
var GTSUtils = new GridTerminalSystemUtils(Me, GridTerminalSystem);
ingameTime = new IngameTime();
yield return(true);
entityTracking = new EntityTracking_Module(GTSUtils, rc, mainCam);
yield return(true);
var pid = new PID_Controller.PIDSettings
{
PGain = 1
};
autopilot = new Autopilot_Module(GTSUtils, rc, ingameTime, pid, pid, entityTracking);
yield return(true);
flightControl = new FlightControl(rc, gyros, thrusters, autopilot);
yield return(true);
guidance = new TargetGuidance(rc);
yield return(true);
clientSystem = new MissileManagementClient(antennaComms, rc, Me.EntityId, missileType);
yield return(true);
turretMonitor = new TurretMonitor(this);
turretMonitor.OnTargetDetected += OnTargetDetected;
yield return(true);
proximityFuse = new ProximityFuse(rc, DETONATIONDIST, this);
proximityFuse.OnEnemyInRange += proximityFuse.Detonate;
DebugEcho("Initialized!");
}
