public void MoveMotor(RotorControlData rotorControl)
{
if (rotorControl != null)
{
var rotor = rotorControl.RotorObject;
var targetAngleD = rotorControl.TargetAngle;
if (rotor != null)
{
float angleD = radiansToDegre(rotor.Angle);
if (angleD - targetAngleD < -margin)
{
rotor.SetValueFloat("Velocity", gain);
Echo("+1");
}
else if (angleD - targetAngleD > margin)
{
rotor.SetValueFloat("Velocity", gain * -1f);
Echo("-1");
}
else
{
rotor.SetValueFloat("Velocity", 0f);
//lose rotor control
rotorControl.Finished = true;
Echo("0");
}
}
}
}
public void ParseArgument(string argument)
{
//Argument decode
string[] args = argument.Split(' ');
if (args.Length == 2)
{
var rotorName = args[0].Trim();
var rotorTargetAngle = args[1];
string output = $"rotorName: {rotorName}, rotorTargetAngle: {rotorTargetAngle}";
Echo(output);
var _rotor = GridTerminalSystem.GetBlockWithName(rotorName) as IMyMotorStator;
if (_rotor == null)
{
Echo("error no rotor from arg.");
}
else
{
float rotorTargetAngleF;
bool isNumeric = Single.TryParse(rotorTargetAngle, out rotorTargetAngleF);
if (!isNumeric)
{
Echo("rotorTargetAngle is not numeric.");
}
else
{
RotorControlData rotorControl = new RotorControlData()
{
RotorNameFromArg = rotorName, RotorObject = _rotor, TargetAngle = rotorTargetAngleF, Finished = false
};
var existing = rotorsControl.Where(x => x.RotorNameFromArg == rotorName).SingleOrDefault();
if (existing != null)
{
rotorsControl.Remove(existing);
}
rotorsControl.Add(rotorControl);
}
}
}
}
