private void Running()
{
int factor = pistonDown.List.Count + pistonUp.List.Count;
if (stators.IsEmpty)
{
Prepare();
}
switch (phase)
{
case Phase.None:
phase = Phase.PistonDown;
break;
case Phase.PistonDown:
drills.On();
pistonDown.ForEach(delegate(IMyPistonBase block) {
if (slowDown)
{
block.Velocity = SPEED_MIN / factor;
}
else
{
block.Velocity = SPEED_MAX / factor;
}
});
pistonUp.ForEach(delegate(IMyPistonBase block) {
if (slowDown)
{
block.Velocity = -SPEED_MIN / factor;
}
else
{
block.Velocity = -SPEED_MAX / factor;
}
});
pistonDown.On();
pistonUp.On();
if (pistonDown.IsPositionMax() && pistonUp.IsPositionMin())
{
phase = Phase.PistonUp;
}
break;
case Phase.PistonUp:
slowDown = false;
pistonDown.ForEach(delegate(IMyPistonBase block) {
block.Velocity = -SPEED_MAX;
});
pistonUp.ForEach(delegate(IMyPistonBase block) {
block.Velocity = SPEED_MAX;
});
pistonDown.On();
pistonUp.On();
if (pistonDown.IsPositionMin() && pistonUp.IsPositionMax())
{
phase = Phase.Bras;
}
break;
case Phase.Bras:
if (brasOut && pistonRayon.IsPositionMax())
{
targetAngle += deltaAngle;
brasOut = false;
phase = Phase.Rotor;
}
else if (!brasOut && pistonRayon.IsPositionMin())
{
targetAngle += deltaAngle;
brasOut = true;
phase = Phase.Rotor;
}
else
{
if (brasOut)
{
targetRayon += Math.Min(deltaRayon, 10f);
if (targetRayon > 10f)
{
targetRayon = 10f;
}
phase = Phase.BrasOut;
}
else
{
targetRayon -= Math.Min(deltaRayon, 10f);
if (targetRayon < 0f)
{
targetRayon = 0f;
}
phase = Phase.BrasIn;
}
}
break;
case Phase.BrasIn:
pistonRayon.On();
pistonRayon.ForEach(delegate(IMyPistonBase block) {
block.Velocity = -SPEED_MAX;
});
if (pistonRayon.IsPosition(targetRayon))
{
pistonRayon.Off();
phase = Phase.PistonDown;
}
break;
case Phase.BrasOut:
pistonRayon.On();
pistonRayon.ForEach(delegate(IMyPistonBase block) {
block.Velocity = SPEED_MAX;
});
if (pistonRayon.IsPosition(targetRayon))
{
pistonRayon.Off();
phase = Phase.PistonDown;
}
break;
case Phase.Rotor:
stators.ForEach(delegate(IMyMotorStator block) {
block.TargetVelocityRPM = ANGLE_RPM_MIN;
});
stators.Unlock();
if (stators.IsPositionMax())
{
stateMachine = StateMachine.Stopping;
phase = Phase.None;
}
else if (stators.IsPosition(targetAngle))
{
stators.Lock();
phase = Phase.PistonDown;
}
break;
}
}