public Program()
{
Runtime.UpdateFrequency = UpdateFrequency.None;
try
{
api = new WcPbApi();
api.Activate(Me);
debugPanels = new Dictionary <string, DebugPanel>();
InitDebugPanels();
DebugPanel debugLog = DebugPanelByName("log");
debugLog.Title = "Debug Log";
// The remote control block is the forward reference for this grid. I should probably change this to something else....
remoteControlBlock = GridTerminalSystem.GetBlockWithName("Remote Control") as IMyRemoteControl;
situationalAwareness = new SituationalAwareness(api, Me, AccelerationFilterCoeff, DebugPanelByName("sitcon"), DebugPanelByName("track"));
navigationSystems = new NavigationSystems(GridTerminalSystem, remoteControlBlock);
motionController = new Autopilot(navigationSystems, DebugPanelByName("heading"), DebugPanelByName("thrust"));
currentTime = 0;
}
catch (Exception e)
{
Echo($"*** Caught exception {e.Message}\n{e.StackTrace}");
}
}
public Autopilot(NavigationSystems navigation_, DebugPanel headingDebug_, DebugPanel thrustDebug_)
{
// Initialize debug panels
headingDebug = headingDebug_;
thrustDebug = thrustDebug_;
if (headingDebug != null)
{
headingDebug.Title = "Heading Control";
}
if (thrustDebug != null)
{
thrustDebug.Title = "Thrust Control";
}
navigation = navigation_;
thrustPID = new PIDController(thrustPIDParams);
rotationPID = new PIDController(rotationPIDParams);
}
