void Running()
{
delta = max_power - last_power;
switch (machine_state)
{
case StateMachine.Stopped:
lat_stators.Off();
lat_stators.Lock();
lon_stators.Off();
lon_stators.Lock();
if (Math.Abs(delta) > MyProperty.Lat_Delta)
{
machine_state = StateMachine.TrakingLat;
last_power = 0;
}
break;
case StateMachine.TrakingLat:
if (Math.Abs(delta) < MyProperty.Lat_Delta)
{
machine_state = StateMachine.TrakingLon;
}
else
{
if (delta < 0)
{
lat_state = lat_state == StateLat.Forward ? StateLat.Backward : StateLat.Forward;
}
lat_stators.ForEach(delegate(IMyMotorStator block) {
if (lat_state == StateLat.Forward)
{
block.TargetVelocityRPM = MyProperty.Lat_Speed;
}
else
{
block.TargetVelocityRPM = -MyProperty.Lat_Speed;
}
});
lat_stators.On();
lat_stators.Unlock();
}
break;
case StateMachine.TrakingLon:
if (Math.Abs(delta) < MyProperty.Lat_Delta)
{
machine_state = StateMachine.Stopped;
}
else
{
if (delta < 0)
{
lon_state = lon_state == StateLon.Forward ? StateLon.Backward : StateLon.Forward;
}
float factor = 1f;
lon_stators.ForEach(delegate(IMyMotorStator block) {
if (lon_state == StateLon.Forward)
{
block.TargetVelocityRPM = MyProperty.Lat_Speed * factor;
}
else
{
block.TargetVelocityRPM = -MyProperty.Lat_Speed * factor;
}
factor *= -1f;
});
lon_stators.On();
lon_stators.Unlock();
}
break;
default:
if (Math.Abs(delta) < MyProperty.Lat_Delta)
{
machine_state = StateMachine.Stopped;
}
else
{
machine_state = StateMachine.TrakingLat;
}
break;
}
last_power = max_power;
}
