LARGE_LINE Right Left LARGE_LINE Backward Forward LARGE_LINE Forward Backward LARGE_LINE Right Left LARGE_LINE Right Left LARGE_LINE Backward Forward LARGE_LINE Forward Backward LARGE_LINE FORWARD Up Backward

LARGE_LINE Forward Backward LARGE_LINE FORWARD Up Backward

LARGE_LINE Left Right LARGE_LINE Backward Forward LARGE_LINE Right Left LARGE_LINE Backward Forward LARGE_LINE Backward Forward LARGE_LINE Forward Backward LARGE_LINE FORWARD Forward Backward LARGE_LINE FORWARD Forward Up

LARGE_LINE Down Up LARGE_LINE Forward Backward

LARGE_LINE Down Up LARGE_LINE Down Up LARGE_LINE Forward Backward LARGE_LINE Down Up LARGE_LINE Forward Backward LARGE_LINE Down Up LARGE_LINE Forward Up

LARGE_LINE Down Up LARGE_LINE Left Right LARGE_LINE Forward Backward

LARGE_LINE Right Left LARGE_LINE Left Right LARGE_LINE Right Left LARGE_LINE Left Right LARGE_LINE Left Right LARGE_LINE Up Down LARGE_LINE Backward Forward LARGE_LINE Backward Forward LARGE_LINE Left Right LARGE_LINE Forward Backward LARGE_LINE Forward Backward LARGE_LINE [YARD] Hydrogen Tanks 5 -4 -10 8 -4 -10 [YARD] Hydrogen Filters 9 -4 -13 3 -4 -13 [YARD] Engines 5 -3 -10 7 -3 -10 5 -3 -9 7 -3 -9 [YARD] Ice Collectors 3 -7 -18 9 -7 -18 3 -7 -16 3 -7 -17 9 -7 -17 9 -7 -16 [YARD] H2/O2 Generators 3 -5 -14 9 -5 -14 [YARD] Beam Tools 9 -1 -12 3 -1 -12 [DAM] Shipyard true false 5 118139186212061200 CastShadows InScene 0.4633216 0.875309765 0.063854374 0.122835591 Large LargePistonTopReskin 88647827190832588 Rusty_Armor 144115188075855895 115122065044602619 false LargeHinge 73290949373715669 Rusty_Armor 144115188075855895 144115188075855895 Faction [ARM] Hinge false false false true 1 false 78151784119716289 false 5 0 -1.57079637 1.57079637 0.148023531 true false 3.36E+07 0 Up Down LARGE_LINE [ARM] Hinges 0 1 0 Large Grid 1200 true false 0 135886497971706345 CastShadows InScene 0.164020121 -0.615936339 0.688568234 -0.345823079 Large LargeHingeHead 78151784119716289 Rusty_Armor 144115188075855895 73290949373715669 false ConveyorTube 139343328831552635 Rusty_Armor 144115188075855895 ConveyorTube 126951475728945789 Rusty_Armor 144115188075855895 ConveyorTube 125695621493317153 Rusty_Armor 144115188075855895 ConveyorTube 120836676240742871 Rusty_Armor 144115188075855895 LargeHinge 90816777305886589 Rusty_Armor 144115188075855895 144115188075855895 Faction [ARM] Hinge false false false true 3 false 113092309941559889 false 5 0 -1.57079637 1.57079637 0.150920182 true false 3.36E+07 0 Left Right LARGE_LINE [ARM] Hinges -5 0 0 Large Grid 6345 true false 0 99744264519504067 CastShadows InScene -0.298404962 0.6989737 0.640254736 -0.111642726 Large LargeHingeHead 113092309941559889 Rusty_Armor 144115188075855895 90816777305886589 false LargeBlockArmorSlope2Tip Rusty_Armor 144115188075855895 LargeBlockConveyor 85019081185935665 Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeHeavyHalfArmorBlock Rusty_Armor 144115188075855895 LargeBlockConveyor 81699530413169946 Rusty_Armor 144115188075855895 LargeBlockConveyor 131526403113000363 Rusty_Armor 144115188075855895 AirVentFanFull 111446871440680089 Rusty_Armor 144115188075855895 144115188075855895 Faction [ARM] [HEAD] Air Vent Fan Full false true true true 1 true false Character LargeProjector 97958909804963436 Rusty_Armor 144115188075855895 144115188075855895 Faction MyModStorageComponentBase 1c45e98f-30a7-41bf-a15b-ecc475302bfe [ARM] [HEAD] Projector false true true true 1 true 0 0 0 0 0 0 false false false 5 200 0 false 1 LargeShipMergeBlock 115356491219662642 Rusty_Armor 144115188075855895 144115188075855895 Faction [ARM] [HEAD] Merge Block false false true true 2 true Connector 72593065664485486 Rusty_Armor 144115188075855895 144115188075855895 Faction 0.5 MyInventoryBase true 0 8 9223372036854.775807 2147483647 CanSend false MyTimerComponent true 0 0 true false Frame10 0 80 false [ARM] [HEAD] Connector false false false false 1 true true false 0 0 true false false false Connector 136066002397456128 Rusty_Armor 144115188075855895 144115188075855895 Faction 0.5 MyInventoryBase true 0 8 9223372036854.775807 2147483647 CanSend false MyTimerComponent true 0 0 true false Frame10 20 80 false [ARM] [HEAD] Connector false false false false 2 true true false 0 0 true false false false Connector 72724450051387374 Rusty_Armor 144115188075855895 144115188075855895 Faction 0.5 MyInventoryBase true 0 8 9223372036854.775807 2147483647 CanSend false MyTimerComponent true 0 0 true false Frame10 70 80 false [ARM] [HEAD] Connector false false false false 3 true true false 0 0 true false false false LargeBlockArmorSlope2Base Rusty_Armor 144115188075855895 LargeHalfSlopeArmorBlock Rusty_Armor 144115188075855895 LargeHalfSlopeArmorBlock Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeHeavyBlockArmorSlope2Tip Rusty_Armor 144115188075855895 LargeHalfSlopeArmorBlock Rusty_Armor 144115188075855895 LargeHalfSlopeArmorBlock Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeHalfSlopeArmorBlock Rusty_Armor 144115188075855895 LargeHalfSlopeArmorBlock Rusty_Armor 144115188075855895 LargeHalfSlopeArmorBlock Rusty_Armor 144115188075855895 LargeHalfSlopeArmorBlock Rusty_Armor 144115188075855895 LargeHalfSlopeArmorBlock Rusty_Armor 144115188075855895 LargeHalfSlopeArmorBlock Rusty_Armor 144115188075855895 LargeHalfSlopeArmorBlock Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeHalfSlopeArmorBlock Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeBlockArmorHalfSlopeCorner Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeBlockArmorHalfSlopeCorner Rusty_Armor 144115188075855895 LargeHalfSlopeArmorBlock Rusty_Armor 144115188075855895 LargeHalfSlopeArmorBlock Rusty_Armor 144115188075855895 LargeHalfSlopeArmorBlock Rusty_Armor 144115188075855895 LargeHalfSlopeArmorBlock Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeBlockRemoteControl 72067018572865106 Rusty_Armor 144115188075855895 144115188075855895 Faction MyAutopilotComponent false 0 -1 false false 0 100 false 0 Forward true 25 false 0 0 0 0 0 [ARM] [HEAD] Remote Control false true true true 1 false Character Character Character false false 0 0 -1 0 false false 0 true false true LargeBlockArmorSlope2Tip Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeBlockConveyor 127964667810858243 Rusty_Armor 144115188075855895 LargeBlockArmorSlope2Tip Rusty_Armor 144115188075855895 LargeHalfSlopeArmorBlock Rusty_Armor 144115188075855895 LargeBlockArmorSlope2Tip Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeBlockArmorSlope2Tip Rusty_Armor 144115188075855895 LargeBlockArmorSlope2Tip Rusty_Armor 144115188075855895 LargeBlockArmorSlope2Tip Rusty_Armor 144115188075855895 ConveyorTube 120365775282191587 Rusty_Armor 144115188075855895 LargeBlockConveyor 83071960289520538 Rusty_Armor 144115188075855895 LargeBlockGyro 93310162859472422 Rusty_Armor 144115188075855895 144115188075855895 Faction [ARM] [HEAD] Gyroscope false true true true 1 true 0.1 true LargeHeavyHalfArmorBlock Rusty_Armor 144115188075855895 LargeBlockBatteryBlock 125449712854756758 Rusty_Armor 144115188075855895 144115188075855895 Faction [ARM] [HEAD] Battery false true true true 3 true 3 true 0 false false 0 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeBlockConveyor 81086295033453224 Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeHalfArmorBlock Rusty_Armor 144115188075855895 LargeProgrammableBlock 132683279032818408 Rusty_Armor 144115188075855895 144115188075855895 Faction MyMultiTextPanelComponent 0 2.1 Turning: align rx: 0 ry: 0 °/s rz: 0 NONE 4278255365 5 255 0 5 255 0 255 4278190080 0 0 0 0 0 0 255 0 TEXT_AND_IMAGE 2 4288108544 0 88 151 0 88 151 255 4294962611 179 237 255 179 237 255 255 0 0 3.5 Gravity Align Script NONE 4294950656 0 191 255 0 191 255 255 4278190080 0 0 0 0 0 0 255 0 2 TEXT_AND_IMAGE 20 4288108544 0 88 151 0 88 151 255 4294962611 179 237 255 179 237 255 255 0 MyModStorageComponent 74de02b3-27f9-4960-b1c4-27351f2b06d1 // if edited manually, reload with command 'load' go updatefrequency=30 gyrolimitrpm=60 pitchoffsetdegrees=0 tiltmaxdegrees=60 pitchangleclipdegrees=0.2 rollangleclipdegrees=0.1 pitchangleslopdegrees=0.3 rollangleslopdegrees=0.15 steeringsensitivity=1 pitchsensitivity=0.2 gyrostoppability=1E-05 alignangularresponsep2=1 alignangularresponsep=10 alignangularresponsei=0.1 alignangularresponsed=0 alignangularresponsed2=0.1 [ARM] [HEAD] Aligner Script false false false true 1 true // GRAVITY ALIGNER // http://steamcommunity.com/sharedfiles/filedetails/?id=567481214 // for Space Engineers in-game scripting for Programmable block // public domain code by Sean L. Palmer // Planetary vehicle guidance assistance system. // A gyro gravity orientation aligner. // Orients a grid so that its specified shipcontroller's Down axis is aligned with local gravity force. // to within a specified angle tolerance // In other words, keeps hovercraft from flipping over, aligned with the ground. // The main ship inertial dampers handle keeping it afloat! // Some folks use it for satellites, some use it as mecha balance assistance. // BLOCKS NEEDED: // a programmable block, with this script // a cockpit facing the proper way (down direction is most important; remote control will work if manual steering isn't required) // some gyros, any orientation // a text panel (optional) for diagnostics // Ownership of all the blocks should be the same, to ensure they can intercommunicate. // Make a group named same as GroupName, containing all those blocks. // Now Run the script with Argument "go" somehow; // If you want to stop the aligner, Run with Argument "stop" to gracefully shut off all the gyro/thruster overrides // I like to set up the ship cockpit toolbar with actions to stop, go, or toggle the aligner const string GroupName = "[ARM] [HEAD] Aligner"; // name of group in terminal containing cockpit, gyros, text panel const string ScriptTitle = "Gravity Aligner\nby p3st|cIdE\n"; // SCANNER public static class Scanner { #region fill from ctor // TODO readonly public static IMyProgrammableBlock Me; public static IMyGridTerminalSystem Terminal; public static string GroupName; public static TimeSpan RescanPeriod = Time.s(5); // damage, building can affect available blocks #endregion public static IMyBlockGroup Group; public static List<IMyTerminalBlock> Blocks = new List<IMyTerminalBlock>(); public static bool FromCtor { get { return first; } } // may call before or after Module.Init() public static Module Init(IMyProgrammableBlock Me, IMyGridTerminalSystem Terminal, string GroupName) { Scanner.Me = Me; Scanner.Terminal = Terminal; Scanner.GroupName = GroupName; var m = new Module(); m.Name = "Scanner"; m.Tick = Update; return m; } // do not call until after calling Module.Init(modules) and also Init() above public static void Update() { bool success = true; if (DateTime.Now >= RescanTime) try { success = Rescan(); } catch (Exception e) { throw new Exception("Scan(" + first + "):\n" + e.Message); } if (first) { Module.Load(); Log.Echo(Log.scan.ToString()); first = false; } return; } public static void GetBlocksOfType<T>(List<T> list) where T : class { foreach (var t in Blocks) { var tt = t as T; if (tt != null) list.Add(tt); } } public static float Volume(IMyCubeBlock block) // in L { int nb = (block.Max - block.Min + 1).Volume(); //Dot(ref Vector3I.One); // total blocks in bounding box float e = block.CubeGrid.GridSize * .1f; // edge length in dm e *= e * e; // cubed for size in L of 1 cube return e * nb; } static bool Rescan() { bool success = true; Log.scan.Clear(); Log.diagnostic.Clear(); RescanTime = DateTime.Now + RescanPeriod; Group = null; // force re-find from name to deal with problems undocking from stations FindBlocks(); if (first) try { bool ok = Check(); // NOT fatal } catch (Exception e) { throw new Exception("Scan.Check:\n" + e.Message); } foreach (var m in Module.All) try { if (!m.Scan()) { Log.scan.AppendLine(m.Name + " scan fail!"); success = false; } // persist to show all failures in log } catch (Exception e) { throw new Exception("Scan:" + m.Name + '\n' + e.Message); } if (!success) Log.scan.AppendLine("Blocks missing!\nCheck ownership consistency!"); Log.Echo(Log.scan.ToString()); Log.Echo(Log.diagnostic.ToString()); return success; } static void FindBlocks() { if (Group == null && GroupName != null) { Group = Terminal.GetBlockGroupWithName(GroupName); if (Group == null) Log.scan.AppendLine("No group called '" + GroupName + "' found!"); } Blocks.Clear(); if (Group != null) Group.GetBlocks(Blocks); else Terminal.GetBlocks(Blocks); } // we'd like to turn certain blocks on. static bool Check() { bool good = true; foreach (var b in Blocks) { if (b.CubeGrid.IsStatic) if (b is IMyThrust || b is IMyGyro || b is IMyShipController) Log.scan.AppendLine("'" + b.CustomName + "' is on station, can't use!"); // will also report !IsWorking if (!b.IsFunctional) // don't automatically re-enable blocks that may require manually disabled if things go kaput if (b is IMyTimerBlock || b is IMyTextPanel) (b as IMyFunctionalBlock).Enabled = true; // in ctor, ignore IsWorking status because the rest of the ship may not be initialized yet. if (!(b is IMyThrust) && !b.IsWorking) // broken/off/unpowered blocks don't help { // but ALL blocks report !IsWorking during first ctor run... Thrusts we toggle all the time, they can be off. Log.scan.AppendLine("'" + b.CustomName + "' is not working!"); //good = false; // not fatal. } } return good; } static DateTime RescanTime = DateTime.Now; static bool first = true; // called from Program ctor? } // MODULE // Aids static classes coordination. // Eases development in many ways. // Other static classes don't derive from Module but provide one! public class Module { public string Name = "?"; // Poor man's static class interface! // These delegates may not be null, but they all have sensible default implementations. public Func<bool> Scan = () => true; // skip scan and report success public Func<string[], bool> Parse = s => false; // parse one pre-tokenized command, unhandled public Action Tick = () => { }; // called once per frame; use Time module! public Func<string[]> Save = () => null; // save no state into array of commands // set before using rest of system public static IMyGridProgramRuntimeInfo run; // Time.dt != run.ElapsedTime // Structures script execution. public static readonly List<Module> All = new List<Module>(); // Add all Modules during Program constructor. public static void Init(IEnumerable<Module> modules) { All.Clear(); All.AddRange(modules); } public static bool Commands(string commands, bool savechanges = false) { if (run == null) throw new Exception("Must set runtime"); if (commands == null || (commands = commands.Trim()).Length == 0) return true; try { bool allhandled = true; bool somehandled = false; foreach (var cmd in commands.Split(Utility.LineSeps)) { var c = cmd.Trim(); if (c.Length == 0 // blank lines / in-between '\r' and '\n' || c.StartsWith("//")) // comments continue; // skip Log.Echo("command '" + c + "':"); if (c == "save") Store(); else if (c == "load") Load(); else { if (c == "toggle") if (Time.running) c = "stop"; else c = "go"; string[] tok = c.Split(Utility.AssignSeps); if (tok.Length == 0 || tok[0].Length == 0) continue; // skip blank-ish lines tok[0] = tok[0].ToLowerInvariant(); // don't require of all modules bool handled = false; // allow multiple modules to handle the same command, // contributing functionality (e.g. "stop" overload) foreach (var m in All) try { if (m.Parse != null && m.Parse(tok)) handled = true; } catch (Exception e) { throw new Exception("Load:" + m.Name + '\n' + e.Message); } Log.Echo("'" + c + "': " + (handled ? "ok" : "error")); if (!handled) allhandled = false; else somehandled = true; } } if (somehandled && savechanges) Store(); // write back to CustomData return allhandled; } catch (Exception e) { throw new Exception("Module.Load:\n" + e.Message); } } public static bool Load() { return Scanner.Me == null ? false : Commands(Scanner.Me.CustomData); } public static void Update() { if (run == null) throw new Exception("Must set runtime"); Scanner.Update(); // it's already first in All and its Tick is set to Update anyway, but must init even if not time to tick again if (!Time.Run()) return; foreach (var m in All) try { m.Tick(); } catch (Exception e) { throw new Exception("Module.Tick:\n" + m.Name + '\n' + e.Message); } } public static string Store() // serialize to string, save to Me.CustomData { List<string> saved = new List<string>(); string result = "// if edited manually, reload with command 'load'\n"; try { foreach (var s in All) { var c = s.Save(); if (c != null) saved.AddRange(c); //was AddArray(c); but that got removed? } result += string.Join("\n", saved); } catch (Exception e) { throw new Exception("Module.Store:\n" + e.Message + "\nSaving failed!"); } if (Scanner.Me != null) Scanner.Me.CustomData = result; return result; } } // TIME // timer / update rate management public static class Time { public static Module Init() { Chart.Title["time"] = TimeChart; Chart.Title["update"] = UpdateChart; var m = new Module(); m.Name = "Time"; m.Parse = Parse; m.Save = Save; return m; } public static bool running { get { return _running; } } public static bool proceed { get { return _dt.Ticks != 0; } } public static TimeSpan dt { get { return _dt; } private set { _dt = value; } } // delta time since last *full* Run (where we weren't waiting for the update period) public static float dts { get { return (float)dt.TotalSeconds; } } // _dt.Ticks * 1e-7f; } } // _dts; } } //delta time in seconds public static int dtms { get { return (int)_dt.Ticks / 10000; } } public static int ams { get { return (int)DateTime.Now.Ticks / 10000; } } // animated, wraps about 4x/hour; for cosmetic spinners. public static long gms { get { return (DateTime.Now - timeStarted).Ticks / 10000; } } // reset each session, otherwise stable increasing. public static Chart TimeChart = new Chart(); public static Chart UpdateChart = new Chart(); static int nticks; public static bool Run() // updates dt, variable timestep, returns whether rest of Modules need ticked { TimeChart.Param = UpdateChart.Param = 1.4f; // 3 lines UpdateChart.Text = "Elapsed: " + Module.run.TimeSinceLastRun.TotalMilliseconds.ToString("f2") + " ms"; UpdateChart.Text += "\nExec: " + Module.run.LastRunTimeMs.ToString("f2") + " ms"; if (!running) TimeChart.Text = "Stopped"; var now = DateTime.Now; UpdateChart.Text += "\nTick: " + (now - lastRun).TotalMilliseconds.ToString("f2") + " ms"; // true update time UpdateChart.Text += "\nTicks: " + ++nticks; lastRun = now; _dt = now - oldTime; // measure delta if (!_running || _dt < UpdatePeriod) _dt = new TimeSpan(); // report 0 elapsed time until full period passed else oldTime = now; // advance if (running) { TimeChart.Text = "Running"; TimeChart.Text += "\nElapsed: " + dtms.ToString("f1") + " ms"; TimeChart.Text += '\n'; if (_dt.Ticks != 0) TimeChart.Text += "(" + Pretty._(1/dts) + " Hz)"; TimeChart.Text += "\nUpdate: " + Pretty._(UpdateFrequency) + " Hz"; } if (_dt.Ticks != 0) nticks = 0; return proceed; } //static ITerminalAction timerTriggerNow; // cache very frequently used property const int DefaultUpdateFrequency = 30; //20; // const float freqBias = .9f; // round to not skip updates due to tiny imprecisions public static TimeSpan UpdatePeriod = s(1.0 / (DefaultUpdateFrequency + freqBias)); public static double UpdateFrequency { get { return 1 / UpdatePeriod.TotalSeconds - freqBias; } } static TimeSpan StopFlushPeriod = s(.1); static readonly TimeSpan tick1 = TimeSpan.FromTicks(1); static DateTime oldTime = DateTime.Now - tick1; static DateTime stopUntil = DateTime.Now - tick1; static DateTime lastRun = DateTime.Now - tick1; static readonly DateTime timeStarted = DateTime.Now; // last Recompile or world reload static TimeSpan _dt; static bool _running = false; static string[] Save() { return new string[] { _running ? "go" : "stop", "updatefrequency=" + Pretty._(Math.Round(UpdateFrequency)) }; } static bool Parse(string[] tokens) { if (tokens.Length == 1) { string varn = tokens[0]; if (varn == "go") Go(); else if (varn == "stop") Stop(); else return false; } else { double val; if (!double.TryParse(tokens[1], out val)) return false; string varn = tokens[0]; if (varn == "updatefrequency" && val >= 1 && val <= 60.5) { UpdatePeriod = Frequency(MathHelper.Clamp(val, 1.0, 60.0) + freqBias); } else return false; } return true; } public static void Go() { // begin actively controlling the ship if (DateTime.Now < stopUntil) return; // do not allow restarting during the StopFlushPeriod _running = true; oldTime = DateTime.Now - tick1; Module.run.UpdateFrequency = Sandbox.ModAPI.Ingame.UpdateFrequency.Update1; //Update10; // } public static void Stop() { Module.run.UpdateFrequency = Sandbox.ModAPI.Ingame.UpdateFrequency.None; //Update100; // stopUntil = DateTime.Now + StopFlushPeriod; _running = false; } // TimeSpan.FromMilliseconds and .FromSeconds both mysteriously round to ms due to internal Interval helper function bug public static TimeSpan ms(double n) => TimeSpan.FromTicks((long)(1e4 * n)); public static TimeSpan s(double n) => TimeSpan.FromTicks((long)(1e7 * n)); public static TimeSpan Frequency(double hz) => TimeSpan.FromTicks((long)(1e7 / hz)); } // PID CONTROLLER // to use such a controller for higher dimensions, // use a combination of 1D PIDs public class PIDControllerFloat { public float Kp = 1, Ki = 1, Kd; // some people factor out Kp so Ki and Kd are proportions of it. public float Kd2; // nonstandard extension: using partially-squared derivative of error. REALLY helps control overshoot by limiting how much it can be misaligned. public float Kp2; // nonstandard extension: use partially-squared error. Could help with controlling stuff in SE because it should work great with its crappy spin-up behavior. public float integralReduction = .001f; private float prevErr; private float integral; private float target; public float Error { get { return prevErr; } } public float Integral { get { return integral; } set { integral = value; } } // client may wish to reset the integral occasionally public void SetTarget(float s) //, double resetDistance) { var targetDelta = s - target; prevErr += targetDelta; // pretend like we were already at the old setpoint to avoid a momentary hiccup // since we fixed prevErr, integral won't get bashed any harder now; it may take some time to unwind though. //if (mag(targetDelta) > resetDistance) // integral = 0; // abandon integral tracking if too far away from old setpoint. Small changes can keep the integral error. target = s; } // t is delta time, likely in seconds // v is current value of thing we're controlling // target is current target value, set point public float Advance(float t, float v) // returns the new control value to set to { var error = target - v; integral *= (float)Math.Exp(-integralReduction * t); // reduces slightly over time integral += error * t; // accumulate error var err2 = error * Math.Abs(error); // sqrsgn var derivative = (error - prevErr) / t; // not stored var deriv2 = derivative * Math.Abs(derivative); prevErr = error; // maintain error state for next run return Kp2 * err2 + Kp * error + Ki * integral + Kd * derivative + Kd2 * deriv2; // sum up } // https://en.wikipedia.org/wiki/Braking_distance public static float MaxVelocityForDistanceStoprate(float d, float r) { if (d < 0) throw new ArgumentException("must be >= 0", "d"); if (r <= 0) return 0; return (float)Math.Sqrt(2 * r * d); } } // UTILITY public static class Utility { public static float Sqr(float x) { return x*x; } public static double Sqr(double x) { return x*x; } public static float ClampAbs(float x, float lim) { return MathHelper.Clamp(x, -lim, lim); } public static double ClampAbs(double x, double lim) { return MathHelper.Clamp(x, -lim, lim); } public static float Frac(double x) { x -= (int)x; if (x < 0) x += 1f; return (float)x; } public static float Wiggle(float x) { return (2f - Math.Abs(x)) * x; } // simple LFOs, phase in double precision, output 0 to 1 public static bool Square(double w) { w = Frac(w + .25); return w >= .5f; } public static float Saw(double w) { return Frac(w); } public static float Tri(double w) { return Math.Abs(2f * Frac(w + .5) - 1f); } public static float Wave(double w) { return Wiggle(Frac(w + .25) * 4 - 2) * .5f + .5f; } public static float Pulse(double w) { return 1f - Math.Abs(Wave(w) * 2f - 1f); } // clips out a region around zero, and closes up the gap linearly public static double DeadZone(double x, double clip) { return x < -clip ? x + clip : x > clip ? x - clip : 0.0; } // ensures that output values are not any smaller than pad, by sliding entire range away from zero by that amount; could just clamp them outward instead public static double BoostZone(double x, double pad) { return x < -double.Epsilon ? x - pad : x > double.Epsilon ? x + pad : 0.0; } // Attempt to cope with behavior of PID integral resetting when any override slider changes // by avoiding changing setting unless it would result in large enough actual difference to matter. public static bool SetWithMinDelta(ITerminalProperty<float> p, IMyTerminalBlock b, float v, float tiny = .01f, float mindeltafraction = .07f) { v = MathHelper.Clamp(v, p.GetMinimum(b), p.GetMaximum(b)); if (Math.Abs(v) < tiny) v = 0; // flush tiny #s to zero var old = p.GetValue(b); float mindelta = Math.Abs(old) * mindeltafraction + .002f; if ((v == 0 && old == 0) || Math.Abs(old - v) < mindelta) return false; // close enough already! do not fiddle with it, let gyro spin up p.SetValue(b, v); return true; } public static readonly char[] LineSeps = new char[] { '\n','\r','|',';' }; public static readonly char[] AssignSeps = new char[] { '=', ':' }; } // PRETTY // prevent visual information overload, ease parsing public static class Pretty { static readonly float[] tcache = new float[] { 0f, .1f, .01f, .001f, .0001f }; public static float NoTiny(float x, int dig = 1) { return Math.Abs(x) < (dig < tcache.Length ? tcache[dig] : (float)Math.Pow(.1, dig)) ? x*float.Epsilon : (float)Math.Round(x, dig); } public static string _(float f) { return NoTiny(f, 1).ToString("g3"); } public static string _(double d) { return NoTiny((float)d, 1).ToString("g4"); } const string degUnit = " °"; // angular degrees public static string Degrees(double a) { return _((float)a) + degUnit; } public static string Radians(double a) { return Degrees(MathHelper.ToDegrees((float)a)); } public static string Degrees(Vector3 a) { return _(a) + degUnit; } public static string Radians(Vector3 a) { return Degrees(a * MathHelper.ToDegrees(1)); } public static string MultiLine(string name, Vector3 v, string unit) { return name + "x: " + Pretty._(v.X) + '\n' + name + "y: " + Pretty._(v.Y) + ' ' + unit + '\n' + name + "z: " + Pretty._(v.Z); } static string oAxSep = " "; static readonly char[] iAxSep = new[] { ' ', '\t', ',' }; public static string _(Vector3 v) { return _(v.X) + oAxSep + _(v.Y) + oAxSep + _(v.Z); } public static string _(Vector3D v) { return _(v.X) + oAxSep + _(v.Y) + oAxSep + _(v.Z); } public static string _(Quaternion q) { return _(q.X) + oAxSep + _(q.Y) + oAxSep + _(q.Z) + oAxSep + _(q.W); //q.ToString(); // } } // GRAPH // Low level graphing support // deals with the peculiarities of drawing using Space Engineers text panels public static class Graph { public static Module Init() { var m = new Module(); m.Name = "Graph"; m.Tick = Update; return m; } public const float row2fontsize = 2.1f; // 2 rows public static readonly int smChartWidth = Screen.FontColumns(row2fontsize, 8); public static Color Twirl; static void Update() { var t = 1f / 3000 * Time.ams; Twirl = Hue(t); Twirl = Desat(Twirl, .9f - .4f * Utility.Sqr(Utility.Pulse(t/17))); Twirl = Glo(Twirl, .5f + .5f * (float)Math.Pow(Utility.Pulse(t/23) * .2f, 32)); } public static Color StatusColor(double status) { status = MathHelper.Saturate(status); var t = 1f / 500 * Time.ams; // 2/s var stat = Hue((1f - status) * .33f); // from green at 0 to red at 1 and beyond // .5f cyan could work stat = Glo(stat, Utility.Pulse(t) * (float)status * .3f); // blink stronger with more error return stat; } public static Color Hue(double H) // 0/6:R, 1/6:Y, 2/6:G, 3/6:C, 4/6:B, 5/6:M { var h6 = 6f * Utility.Frac(H); // range reduce angle int i = (int)h6; float f = h6 - i; float e; Vector3 c; // feeling clever if ((i&1) != 0) { e = 1 - f; f = 1; } else { e = 1; } if (i < 2) c = new Vector3(e, f, 0); else if (i < 4) c = new Vector3(0, e, f); else c = new Vector3(f, 0, e); return (Color)c; } public static Color Glo(Color c, float a) { return Color.Lerp(c, Color.White, a); } public static Color Dim(Color c, float a) { return Color.Lerp(Color.Black, c, a); } public static Color Desat(Color c, float a) { return Color.Lerp(c, new Color(Luma(c)), a); } public static float Lumi(Vector3 clinear) { return Vector3.Dot(new Vector3(.2126f, .7152f, .0722f), clinear); } // lumi Y from linear RGB using ITU-R Rec. BT.709 / sRGB public static float Luma(Vector3 cgamma ) { return Vector3.Dot(new Vector3(.2990f, .5870f, .1140f), cgamma ); } // luma Y' from gamma RGB using ITU-R Rec. BT.601-2 luma public static string Fraction(double f, int w) // a simple 1-line horizontal bar graph representing a percentage { var cfill = (int)(MathHelper.Saturate(f)*w); return new string('I', cfill);// + new string(' ', w - cfill); // left is FG (filled) and right is BG (empty) } static int Pos(double v, int width, int center, double maximum) { return MathHelper.Clamp((int)Math.Round(center*v/maximum) + center, 0, width-1); } public static string Limit(double v, double limit, double maxi, int w) { if ((w & 1) == 0) --w; // width should be odd if (Math.Abs(v) > maxi) return new string(v < 0 ? '›' : '‹', w); int c = w >> 1; // center int lo = Pos(-limit, w, c, maxi); var g = new string('∙', lo); g = g + new string(' ', w - lo*2) + g; int pat = Pos(v, w, c, maxi); char nub = v < -limit ? '›' : v > limit ? '‹' : 'I'; return g.Substring(0, Math.Max(0, pat)) + nub + g.Substring(Math.Min(w, pat + 2)); } } // VESSEL // Tracks the state of a vessel. A vessel is a collection of connected grids. // Supports multiple controllers! (cockpits, control stations, remote controls) public static class Vessel { public static Module Init() { if (gravity.gravChart == null) gravity.gravChart = new Chart(); Chart.Title["mass"] = massChart; Chart.Title["grav"] = gravity.gravChart; Chart.Title["pos"] = posChart; Chart.Title["vel"] = velChart; Chart.Title["ori"] = oriChart; Chart.Title["rot"] = rotChart; var m = new Module(); m.Name = "Vessel"; m.Scan = Rescan; m.Tick = Update; m.Parse = Parse; return m; } public static IMyShipController Controller = null; // presently active controller, being controlled by a player public struct Gravity { public const float StandardG = 9.80665f; // m/s² public float Strength; // present effective acceleration in m/s² public Vector3D World; // scaled by strength (up to 1G) world space at this vessel's location public Vector3 WorldDir; // unit length public Vector3D Local; // scaled by strength (up to 1G) ship local space public Vector3 LocalDir; // unit length public Chart gravChart; public void Update(IMyShipController c, Quaternion worldToShip) { if (c == null) { World = WorldDir = Local = LocalDir = new Vector3(); Strength = 0; gravChart.Text = "Misconfigured!"; return; } World = c.GetNaturalGravity(); // gravity acceleration vector in m/s² - ships without artificial mass ignore artificial gravity Strength = (float)World.Length(); //if (Strength < .01f) // && UseArtificialGravity) //{ // World = c.GetArtificialGravity(); // maybe on a station w gravity? // Strength = (float)World.Length(); //} if (Strength < .01f) //Vector3D.IsZero(World, .01)) // { // normalized will be bogus, zero them. Local = WorldDir = LocalDir = new Vector3(); //Log.Output("No Gravity!"); gravChart.Text = "No gravity"; } else { Local = Vector3.Transform(World, worldToShip); LocalDir = Vector3D.Normalize(Local / Strength); WorldDir = Vector3D.Normalize(World / Strength); //Log.Output("gravity: " + Pretty._(gravity.Local) + " m/s² (local)"); //Log.Output("gravity: " + Pretty._(gravity.Local*(1/StandardG)) + " G (local)"); //Log.Output("gravity dir: " + Pretty._(gravity.LocalDir) + " (local)"); gravChart.Text = "Gravity: " + Pretty._(Vessel.gravity.Strength) + " m/s²"; //" G"; } gravChart .UpdateColor(0); gravChart.Param = 2.6f; } } public static Gravity gravity; // for the active controller, if any; not tracking multiple gravities or altitudes yet. public static bool Rescan() { Controllers.Clear(); Scanner.GetBlocksOfType(Controllers); FindController(); if (Controller == null) Log.scan.AppendLine("No controllers found!"); UpdateMass(); UpdateMatrix(); return true; } // it's pretty crucial that this match the actual ship mass otherwise we may not be able to hover or will overthrust like mad public static double Mass; // total in kg // I'm torn whether to move these into Motion/Rotion or leave here since they're obtained from IMyShipController public static Vector3D Position; public static Vector3 LinearVelocity; // in meters/s in world space public static Vector3 LinearAcceleration; // in meters/s² in world space // an angular velocity vector is a rotation axis scaled by speed in radians/second public static Vector3 AngularVelocity; // in radians/s per axis in world space public static Quaternion worldToShip; // inverse orientation public static Quaternion shipToWorld { get { return Quaternion.Conjugate(worldToShip); } } // from ship controller to world space public static Vector3 WorldToShipDir(Vector3 d) { return Vector3.Transform(d, worldToShip); } public static Vector3 ShipToWorldDir(Vector3 d) { return Vector3.Transform(d, shipToWorld); } static Chart massChart = new Chart(); static Chart posChart = new Chart(); static Chart velChart = new Chart(); static Chart oriChart = new Chart(); static Chart rotChart = new Chart(); public static bool Parse(string[] tokens) { if (tokens.Length == 1) { string varn = tokens[0]; return false; } else { double val; if (!double.TryParse(tokens[1], out val)) return false; string varn = tokens[0]; if (varn == "extramass") {} // ExtraMass = val; else if (varn == "cargomult") {} // CargoMult = val; else return false; } return true; } static void FindController() // find the one under control if possible, or use the first controller available otherwise. { Controller = null; foreach (var c in Controllers) if (c.IsUnderControl || Controller == null // TODO prefer controller on same grid as PB. || (!Controller.IsUnderControl && c.GetValueBool("MainCockpit"))) // prefer main over uncontrolled non-main Controller = c; } static void UpdateMass() { if (Controller == null) { Mass = 0; return; } var massinfo = Controller.CalculateShipMass(); //Mass = massinfo.BaseMass; var cargoMass = massinfo.PhysicalMass - massinfo.BaseMass; // - massInfo.PhysicalMass(massinfo.TotalMass - massinfo.BaseMass) / CargoMult; // account for survival inventory multiplier //Mass += cargoMass; //Mass += ExtraMass; // in case TotalMass doesn't account for something somehow (strangely attached towed ships? Rocks that aren't in an inventory?) Mass = massinfo.PhysicalMass; //scanlog.AppendLine("Mass: " + Mass + " kg"); //scanlog.AppendLine(" Block: " + MassInfo.BaseMass.ToString("F0") + " kg"); //scanlog.AppendLine(" Cargo: " + cargoMass.ToString("F1") + " kg"); //scanlog.AppendLine("ExtraMass: " + ExtraMass.ToString("F0") + " kg"); massChart.Text = "Mass: " + Mass + " kg"; massChart.Param = 2.6f; massChart.Text += "\n Cargo: " + cargoMass.ToString("F1") + " kg"; //if (CargoMult != 1f) massChart.Text += "\n(cargo x" + CargoMult + ')'; //if (ExtraMass != 1f) massChart.Text += "\n(extra " + ExtraMass + " kg)"; } static void UpdateMatrix() { if (Controller != null) // update from shipcontroller { Position = Controller.WorldMatrix.Translation; var Orientation = Quaternion.CreateFromRotationMatrix(Controller.WorldMatrix.GetOrientation()); worldToShip = Quaternion.Conjugate(Orientation); // TODO if it's a remote, determine the configured "forward" direction posChart.Text = "Pos: " + Pretty._(Position); posChart.Param = Graph.row2fontsize; oriChart.Text = "Ori: " + Pretty._(Orientation); oriChart.Param = Graph.row2fontsize; } } // read gravity, orientation, and position, info about planet if any. Called each Tick. public static void Update() { if (Controller == null || !Controller.IsUnderControl) FindController(); if (Controller == null) { // can survive without it Log.Output("No active controller in group!"); return; } UpdateMass(); UpdateMatrix(); AnalyzeMotion(); gravity.Update(Controller, worldToShip); } static void AnalyzeMotion() { if (Controller == null) { AngularVelocity = LinearVelocity = LinearAcceleration = new Vector3(); return; } MyShipVelocities vels = Controller.GetShipVelocities(); AngularVelocity = vels.AngularVelocity; LinearAcceleration = (vels.LinearVelocity - LinearVelocity) / Time.dts; LinearVelocity = vels.LinearVelocity; velChart.Text = "Vel: " + Pretty._(LinearVelocity); velChart.Param = Graph.row2fontsize; rotChart.Text = "Rot: " + Pretty._(AngularVelocity); rotChart.Param = Graph.row2fontsize; } static List<IMyShipController> Controllers = new List<IMyShipController>(); } // ROTION // Manages orientation, rotation, angular velocity, and torque public static class Rotion { public static Module Init() { Chart.Title["turn"] = turnChart; var m = new Module(); m.Name = "Rotion"; m.Scan = Rescan; m.Tick = Update; m.Parse = Parse; m.Save = Save; return m; } public const double deg2rad = Math.PI / 180; // see VRageMath.MathHelper.ToRadians(1) // FIXME move to Utility public const double rad2deg = 180 / Math.PI; // see VRageMath.MathHelper.ToDegrees(1) public static double RPMLimit = 60; // can reduce to slow ship rotation globally when under script control public static double TotalTorque; // of entire vessel, combined, best estimate, in kN public static Chart turnChart = new Chart(); // disable gyro overrides and allow default angular damping to bring vessel to a stop public static void NoTurnVessel() { Explain(Vector3.Zero, "free"); foreach (var gyro in Gyros) TurnGyro(gyro, new Vector3(), false);//, 0f); } public static float RotCapOnAxis(Vector3 axis) // returns available torque along that axis, in N, assumes axis is unit length { return (float)(TotalTorque * 1000); //(TotalTorque.Dot(axis) * 1000); } // takes vessel-local desired angular velocity vector public static void RotateVessel(Vector3 lrot) { if (lrot.LengthSquared() > 1e-6f) TurnVessel(lrot, "rot"); else NoTurnVessel(); } // takes vessel-local desired angular velocity vector // request vessel to rotate at the stated local angular velocities, ASAP. // Gyros respond slowly though. Changing settings often is a bad idea. static DateTime nextSteeringTime = DateTime.Now; public static readonly TimeSpan steeringUpdatePeriod = Time.Frequency(10); public static void TurnVessel(Vector3 lrot, string why = "turn") { // if (DateTime.Now < nextSteeringTime) return; // STOP FIDDLING with the sliders constantly - global sync version is not ideal var largest = lrot.Length(); // var mini = largest * .15f; // threshold relative to scale of vector as a whole // if (Math.Abs(lrot.X) < mini) lrot.X = 0; // flush proportionally small non-primary-axis fiddly manipulations to zero // if (Math.Abs(lrot.Y) < mini) lrot.Y = 0; // if (Math.Abs(lrot.Z) < mini) lrot.Z = 0; Explain(lrot, why); //rot *= new Vector3I(0,0,0); if (rot.LengthSquared() < 1e-4f) return; // DEBUG var maxr = (float)RPMLimit * MathHelper.RPMToRadiansPerSecond; lrot = Vector3.Clamp(lrot, Vector3.MinusOne * maxr, Vector3.One * maxr); lrot = Vessel.ShipToWorldDir(lrot); var steerseconds = steeringUpdatePeriod.TotalSeconds; //var nbuckets = Math.Max(1, (int)(Time.UpdatePeriod.TotalSeconds / steerseconds)); //var gyrosperbucket = Gyros.Count / nbuckets; //var updatebucket = (int)((nextSteeringTime - DateTime.Now).TotalSeconds * nbuckets / steerseconds); //var glo = updatebucket * gyrosperbucket; var ghi = glo + gyrosperbucket - 1; int i = 0; foreach (var gyro in Gyros) {// FIXME this logic cannot prevent low # of gyros from being ticked too often if ratio is too extreme // if (i >= glo && i <= ghi) // only update gyros in bucket scheduled to update this tick TurnGyro(gyro, lrot, true); ++i; } if (DateTime.Now >= nextSteeringTime) // next cycle yet? if (DateTime.Now > (nextSteeringTime += steeringUpdatePeriod)) // increment. Still too far behind? nextSteeringTime = DateTime.Now; // catch up } public static void AngularDampen(Vector3 mask, double v = .0001, double v2 = .04) { if (Vessel.AngularVelocity.LengthSquared() > 2e-5f) { // cancel existing velocity, prevent overshoot/oscillation var localr = Vessel.WorldToShipDir(Vessel.AngularVelocity) * mask; localr *= -(float)(v2*localr.Length() + v); // correct proportionally to error and its square if (localr.LengthSquared() > 1e-6) { TurnVessel(localr, "damp"); return; } } NoTurnVessel(); } static void Explain(Vector3 r, string why) { turnChart.Text = "Turning: " + why + '\n' + Pretty.MultiLine("r", r * (float)rad2deg, " °/s") //²? no //+ Pretty._(r) + " radian/s" //+ Pretty.Radians(r) + "/s" ; turnChart.Param = 1.2f; // fit 4 rows } static string[] Save() { return new string[] { "gyrolimitrpm=" + RPMLimit, }; } static bool Parse(string[] tokens) { if (tokens.Length == 1) { string varn = tokens[0]; if (varn == "stop" || varn == "reset") NoTurnVessel(); else return false; } else { double val; if (!double.TryParse(tokens[1], out val)) return false; string varn = tokens[0]; if (varn == "gyrolimitrpm" && val >= 0) RPMLimit = val; else return false; } return true; } static void Update() { Log.Output(turnChart.Text); } static bool Rescan() { Gyros.Clear(); GyroUpdate.Clear(); TotalTorque = 0; Scanner.GetBlocksOfType(Gyros); foreach (var g in Gyros) InitGyro(g); if (Gyros.Count == 0) // need gyros to function normally, but otherwise we can still display orientation. Log.scan.AppendLine("No gyros found in group!"); return true; // NOT FATAL // Gyros.Count > 0; // should make sure at least some are functioning } const float SmallGyroTorque = 1.35e5f; // measured by competition with a rotor const float LargeGyroTorque = 1.35e7f; static void InitGyro(IMyGyro g) { if (propGyroOverride == null) { propGyroOverride = g.GetProperty("Override").AsBool(); // for setting propGyroPitch = g.GetProperty("Pitch").AsFloat(); propGyroYaw = g.GetProperty("Yaw" ).AsFloat(); propGyroRoll = g.GetProperty("Roll" ).AsFloat(); } GyroUpdate[g] = DateTime.Now; //g.BlockDefinition.SubtypeId // TODO account for modded gyros FIXME account for off-grid gyros/leverage on main center of mass var gtorque = g.CubeGrid.GridSize < 1 ? SmallGyroTorque : LargeGyroTorque; gtorque *= g.GyroPower; TotalTorque += gtorque; //Log.scan.AppendLine("'" + g.CustomName + "' at " + (int)(g.GyroPower*100) + '%' // + "rated " + propGyroYaw.GetMaximum(g)*MathHelper.RadiansPerSecondToRPM + " RPM"); } const float tiny = .05f; const float mindeltafraction = .05f; // rot is a world rotation axis scaled by rotation rate in radians/second // (an angular velocity vector) // Pitch = noseup = ccw x, Yaw = noseleft = ccw y, Roll = ccw z static void TurnGyro(IMyGyro g, Vector3 v, bool overrideg) //, float tickphase) { if (!overrideg && propGyroOverride.GetValue(g)) { propGyroPitch.SetValue(g, 0f); propGyroYaw.SetValue(g, 0f); propGyroRoll.SetValue(g, 0f); } propGyroOverride.SetValue(g, overrideg); var nextupdate = GyroUpdate[g]; if (nextupdate > DateTime.Now) return; if (overrideg) { // must not care what set to when not overridden Matrix mworld = g.WorldMatrix.GetOrientation(); // gyro to world mworld.TransposeRotationInPlace(); // now world to gyro v = Vector3.Transform(v, ref mworld); // now gyro local v *= new Vector3I(1, -1, -1); // gyros have backward conventions for angular directions on certain axes, versus how it works out with cross products. bool changed = false; float mindf = mindeltafraction, tinyf = tiny; // always update if past time, else only if delta large enough if (nextupdate < DateTime.Now - steeringUpdatePeriod) mindf = tinyf = 0f; v *= MathHelper.RadiansPerSecondToRPM; // FIX for recent api change changed |= Utility.SetWithMinDelta(propGyroPitch, g, v.X, tinyf, mindf); changed |= Utility.SetWithMinDelta(propGyroYaw, g, v.Y, tinyf, mindf); changed |= Utility.SetWithMinDelta(propGyroRoll, g, v.Z, tinyf, mindf); if (changed) GyroUpdate[g] = DateTime.Now + steeringUpdatePeriod; } } static List<IMyGyro> Gyros = new List<IMyGyro>(); static Dictionary<IMyGyro, DateTime> GyroUpdate = new Dictionary<IMyGyro, DateTime>(); // do not update until static ITerminalProperty<bool> propGyroOverride; // gyro static ITerminalProperty<float> propGyroPitch, propGyroYaw, propGyroRoll; // units radian/s, displayed units RPM } // UPRIGHT // Keeps Vessel down vector aligned with gravity. // Uses Rotion module to manage the gyroscope overrides. public static class Upright { public static Module Init() { Chart.Title["pitch"] = PitchChart; Chart.Title["roll" ] = RollChart; Chart.Title["yaw" ] = YawChart; Chart.Title["steer"] = SteerChart; var m = new Module(); m.Name = "Upright"; m.Tick = Update; m.Parse = Parse; m.Save = Save; return m; } public static float PitchOffsetDegrees = 0; // allows ship to maintain different pitch attitudes public static float PitchTiltDegrees = 0; // for use by Hover module to temporarily tilt the ship public static float PitchTiltMaxDegrees = 60; // limits +/- PitchTiltDegrees // I loosened up the default settings a bit public static float PitchAngleClipDegrees = .2f; // in degrees - the better pitch is aligned, the less roll will become misaligned public static float RollAngleClipDegrees = .1f; // in degrees - match roll precisely if possible, but don't fidget over micro-degrees public static float PitchAngleSlopDegrees = .3f; // in degrees public static float RollAngleSlopDegrees = .15f; // in degrees // once it goes past clip + slop limit, it will begin to correct toward the clip boundary // I find that, since the gyros have their own internal PID controller, using only Proportional // response works best (with limiting for stopping distance) public static float ResponseP2 = 1; //4; // factor proportional to square of error public static float ResponseP = 10; // factor converting misalignment (sine) into angular radians/s; overall corrector stiffness; (was GyroSpeedScale) public static float ResponseI = .1f; // integral factor public static float ResponseD = 0; //.1; // forced damping counter to existing velocity, to counter overcorrection and oscillation on massive ships public static float ResponseD2 = .1f; //1.4; // proportional to square of angular velocity, works much better for my purposes than using first derivative public static float ThresholdBoundaryBoost = .001f; public static float Stoppability = 1e-5f; // for estimating stopping power TODO estimate from gyros and ship mass public static float Sensitivity = 1; // input sensitivity public static float PitchSensitivity = .2f; // input sensitivity for pitch static PIDControllerFloat GyroControllerPitch = new PIDControllerFloat(); static PIDControllerFloat GyroControllerRoll = new PIDControllerFloat(); public static Chart PitchChart = new Chart(); public static Chart RollChart = new Chart(); public static Chart YawChart = new Chart(); public static Chart SteerChart = new Chart(); public static Vector3 Down() // local { double a = Rotion.deg2rad * (PitchOffsetDegrees + MathHelper.Clamp(PitchTiltDegrees, -PitchTiltMaxDegrees, PitchTiltMaxDegrees)); return new Vector3D(0, -Math.Cos(a), Math.Sin(a)); } public static Vector3 CurrentAngles() // in radians { Vector3 cross = Vector3.Cross(Down(), Vessel.gravity.LocalDir); // perpendicular to both AlignDir and gravity in ship local space return new Vector3(Math.Asin(cross.X), Math.Asin(cross.Y), Math.Asin(cross.Z)); // convert sines to radian angles } public static float CurrentPitch() { return -CurrentAngles().X; } static void Update() { var c = Vessel.Controller; if (c == null) return; if (Vessel.gravity.Strength < .01) { PitchChart.Text = RollChart.Text = YawChart.Text = "No gravity."; PitchChart.Param = RollChart.Param = YawChart.Param = 2f; return; } var localr = Vessel.WorldToShipDir(Vessel.AngularVelocity); // to local space, radians/s var angles = CurrentAngles(); const double border = 2; // ° border double limx = Rotion.deg2rad * (PitchAngleClipDegrees+PitchAngleSlopDegrees), lim2x = limx + Rotion.deg2rad*border; double limz = Rotion.deg2rad * ( RollAngleClipDegrees+ RollAngleSlopDegrees), lim2z = limz + Rotion.deg2rad*border; PitchChart.Text = "Pitch: " + Pretty.Radians(-angles.X) + '\n' + Graph.Limit(-angles.X, limx, lim2x, Graph.smChartWidth); RollChart .Text = "Roll: " + Pretty.Radians(-angles.Z) + '\n' + Graph.Limit(-angles.Z, limz, lim2z, Graph.smChartWidth); YawChart .Text = "Yaw: " + Pretty.Radians(-angles.Y) + '\n' + Graph.Limit(-angles.Y, 0, MathHelper.TwoPi, Graph.smChartWidth); PitchChart.Param = RollChart.Param = YawChart.Param = Graph.row2fontsize; // only need 2 lines var clippedlimits = angles; clippedlimits.X = (float)Utility.DeadZone(clippedlimits.X, PitchAngleClipDegrees * Rotion.deg2rad); clippedlimits.Z = (float)Utility.DeadZone(clippedlimits.Z, RollAngleClipDegrees * Rotion.deg2rad); bool pastlimit = Math.Abs(clippedlimits.X) > PitchAngleSlopDegrees * Rotion.deg2rad || Math.Abs(clippedlimits.Z) > RollAngleSlopDegrees * Rotion.deg2rad; var response = -clippedlimits; response.X = (float)Utility.BoostZone(response.X, ThresholdBoundaryBoost); response.Z = (float)Utility.BoostZone(response.Z, ThresholdBoundaryBoost); // since the Targets were never set, they're still at zero always. GyroControllerPitch.Kp2 = GyroControllerRoll.Kp2 = (float)ResponseP2; GyroControllerPitch.Kp = GyroControllerRoll.Kp = (float)ResponseP; GyroControllerPitch.Ki = GyroControllerRoll.Ki = (float)ResponseI; GyroControllerPitch.Kd = GyroControllerRoll.Kd = (float)ResponseD; GyroControllerPitch.Kd2= GyroControllerRoll.Kd2= (float)ResponseD2; response.X = GyroControllerPitch.Advance(Time.dts, response.X); response.Z = GyroControllerRoll .Advance(Time.dts, response.Z); //response *= (float)-2 / (1.001 - Vessel.gravity.LocalDir.Y); // nonlinear remap for more oomph when totally flipped over, careful when perfectly upside-down though! var rim = (float)(Stoppability / Vessel.Mass); // do not overestimate vessel's ability to reduce its own rotation! or becomes unstable. //Log.Output("rim: " + rim); response.X = Utility.ClampAbs(response.X, PIDControllerFloat.MaxVelocityForDistanceStoprate(Math.Abs(clippedlimits.X), Rotion.RotCapOnAxis(Vector3.Right ) * rim)); response.Y = Utility.ClampAbs(response.Y, PIDControllerFloat.MaxVelocityForDistanceStoprate(Math.Abs(clippedlimits.Y), Rotion.RotCapOnAxis(Vector3.Up ) * rim)); // angular damping response.Z = Utility.ClampAbs(response.Z, PIDControllerFloat.MaxVelocityForDistanceStoprate(Math.Abs(clippedlimits.Z), Rotion.RotCapOnAxis(Vector3.Backward) * rim)); var uactive = Vessel.Controller != null && Vessel.Controller.IsUnderControl; var s = Sensitivity; float steeringYaw = c.RotationIndicator.Y * s; float steeringPitch = c.RotationIndicator.X * PitchSensitivity; float steeringRoll = c.RollIndicator * s; // TODO * RollSensitivity if (uactive) { var sv = Vessel.gravity.LocalDir * steeringYaw; // mix in user yaw around gravity vector (NOT ship Y) - should reverse if upside down? // anyway it won't be stable over time, but if updated each frame this is the right thing to do. // only allow inputs that don't fight correction if (steeringPitch * response.X <= float.Epsilon) sv.X -= steeringPitch; if (steeringRoll * response.Z <= float.Epsilon) sv.Z -= steeringRoll; response += sv; } var yawgraph = "Yaw: " + Pretty._(steeringYaw) + '\n' + Graph.Limit(steeringYaw, 9, 12, Graph.smChartWidth); YawChart.Text += "\n" + yawgraph; SteerChart.Text = yawgraph; SteerChart.Text += "\nPitch: " + Pretty._(steeringPitch) + '\n' + Graph.Limit(steeringPitch, 9, 12, Graph.smChartWidth); SteerChart.Text += "\nRoll: " + Pretty._(steeringRoll) + '\n' + Graph.Limit(steeringRoll, 1, 1.3, Graph.smChartWidth); SteerChart.Param = 1.2f; // fit 4 rows PitchChart.TextColor = Graph.StatusColor(Math.Abs(response.X)); RollChart.TextColor = Graph.StatusColor(Math.Abs(response.Z)); YawChart.TextColor = Graph.StatusColor(Math.Abs(response.Y)); Rotion.TurnVessel(response, "align"); // given ship controller local coords } static bool Parse(string[] tokens) { string varn = tokens[0]; if (tokens.Length == 1) { if (varn == "stop" || varn == "reset") Rotion.NoTurnVessel(); else return false; } else { double val; if (!double.TryParse(tokens[1], out val)) return false; var vf = (float)val; if (varn == "pitchoffsetdegrees" || varn == "pitchofs") // legacy name - TODO REMOVE PitchOffsetDegrees = MathHelper.ToDegrees(MathHelper.WrapAngle(MathHelper.ToRadians((float)val))); else if (varn == "tiltmaxdegrees" && vf >= 0) PitchTiltMaxDegrees = vf; else if ((varn == "pitchangleclipdegrees" || varn == "pitchclip") && vf >= 0) PitchAngleClipDegrees = vf; else if ((varn == "rollangleclipdegrees" || varn == "rollclip") && vf >= 0) RollAngleClipDegrees = vf; else if ((varn == "pitchangleslopdegrees" || varn == "pitchslop") && vf >= 0) PitchAngleSlopDegrees = vf; else if ((varn == "rollangleslopdegrees" || varn == "rollslop") && vf >= 0) RollAngleSlopDegrees = vf; else if (varn == "steeringsensitivity" && vf >= 0) Sensitivity = vf; else if (varn == "pitchsensitivity" && vf >= 0) PitchSensitivity = vf; else if (varn == "gyrostoppability" && vf >= 0) Stoppability = vf; else if (varn == "alignangularresponsep2") ResponseP2 = vf; else if (varn == "alignangularresponsep") ResponseP = vf; else if (varn == "alignangularresponsei") ResponseI = vf; else if (varn == "alignangularresponsed") ResponseD = vf; else if (varn == "alignangularresponsed2") ResponseD2 = vf; else return false; } return true; } static string[] Save() { return new string[] { "pitchoffsetdegrees=" + PitchOffsetDegrees, "tiltmaxdegrees=" + PitchTiltMaxDegrees, "pitchangleclipdegrees=" + PitchAngleClipDegrees, "rollangleclipdegrees=" + RollAngleClipDegrees, "pitchangleslopdegrees=" + PitchAngleSlopDegrees, "rollangleslopdegrees=" + RollAngleSlopDegrees, "steeringsensitivity=" + Sensitivity, "pitchsensitivity=" + PitchSensitivity, "gyrostoppability=" + Stoppability, "alignangularresponsep2=" + ResponseP2, "alignangularresponsep=" + ResponseP, "alignangularresponsei=" + ResponseI, "alignangularresponsed=" + ResponseD, "alignangularresponsed2=" + ResponseD2, }; } } // LOG public static class Log { public static Module Init() { var m = new Module(); m.Name = "Log"; m.Tick = Update; return m; } public static Action<string> Echo = s => {}; // patch from ctor, so all modules can easily access it public static void Output(string s) { log.AppendLine(s); } public static void Format(string format, params object[] args) { log.AppendFormat(format, args); } public static System.Text.StringBuilder log = new System.Text.StringBuilder(); // gets scanLog appended then cleared after each Show public static System.Text.StringBuilder scan = new System.Text.StringBuilder(); // avoid rebuilding each Run, cleared each Scan public static System.Text.StringBuilder diagnostic = new System.Text.StringBuilder(); // cleared each Scan, written to screen CustomData static void Update() { log.Append(scan); Chart.Standard.Text = log.ToString(); Chart.Standard.Texture = false; log.Clear(); } } // CHART // can show on a text panel visually public class Chart { static Chart() { Title["logo"] = Logo; //Subtype["Wide"] = Logo; Subtype["Corner"] = Logo; } public static Module Init() { var m = new Module(); m.Name = "Chart"; m.Tick = Update; return m; } public string Text = null; // text or texture name (will show "OFFLINE" if null either way) public float Param = 0f; // override font size or image time if > 0 public bool Texture = false; // if true, Text is texture name to show public bool Compact = true; // if true, font size is doubled on wide panels, halved on large ship corner panels public Color TextColor = Color.White; public Color BackColor = Color.Black; public void UpdateColor(double err) { TextColor = err <= 0 ? Graph.Twirl : Graph.StatusColor(err); } public void MakeFill(string quant, double fill) { Text = quant + ": " + fill.ToString("P1") //(int)Math.Round(fill * 100) + " %" // (fill * 100).ToString("F0") + "%"; // + '\n' + Graph.Fraction(fill, Graph.smChartWidth); Param = Graph.row2fontsize; TextColor = Graph.StatusColor(1f - fill); } static void Update() { if (Standard.Text == null) Standard.Text = Log.scan.ToString(); // + Log.diagnostic; Logo.TextColor = new Color(Utility.Wave(1f / 24000 * Time.ams)); Logo.BackColor = Graph.Glo(Graph.Hue(1f / 12000 * Time.ams), .8f*(float)Math.Pow(Utility.Pulse(Utility.Wave(1f / 7000 * Time.ams)), 16)); Logo.Param = Utility.Tri(1f / 70000 * Time.ams) * .4f + 1.9f; // slow pingpong fontsize between 1.9 and 2.3 } public void Show(IMyTextSurface s) //Panel display) { // var s = display as IMyTextSurface; if (Text == null || Texture) { s.ContentType = ContentType.TEXT_AND_IMAGE; } if (!Time.running) { s.WriteText(""); s.BackgroundColor = Color.Black; s.AddImageToSelection("Offline", true); s.ContentType = ContentType.TEXT_AND_IMAGE; return; } if (Text != null) if (Texture) { foreach (var image in Text.Split('|')) s.AddImageToSelection(image, true); } else { s.BackgroundColor = BackColor; s.FontColor = TextColor; // if (Compact && Screen.IsWide(display)) Param *= 2; // else if (Screen.IsCorner(display) && (!Compact || display.CubeGrid.GridSize > 1f)) Param *= .5f; if (Param > 0) s.FontSize = Param; s.ClearImagesFromSelection(); s.WriteText(Text); s.ContentType = ContentType.TEXT_AND_IMAGE; //s.CustomData = Log.diagnostic.ToString(); // using CustomData as private (diagnostic) output for LCDs } } public void Show(IMyLightingBlock light) { var c = Time.running ? Color.Black : BackColor != Color.Black ? BackColor : TextColor; Screen.SetLightColor(light, c); // CustomData is selector for lights (input) so do not write to it } public static Chart Logo = new Chart(); public static Chart Standard = new Chart(); // default public static Dictionary<string, Chart> Title = new Dictionary<string, Chart>(); // map each Public Title for screens (CustomData for other blocks) substring to its graph; only put lowercase strings as keys! public static Dictionary<string, Chart> Subtype = new Dictionary<string, Chart>(); // map each Subtype to its graph (case sensitive) static string GetSubtype(IMyTerminalBlock block) { return block.BlockDefinition.SubtypeId; } // case sensitive static string GetName(IMyTerminalBlock block) { return block.CustomName.ToLowerInvariant(); } // case insensitive static string GetCustomData(IMyTerminalBlock block) { return block.CustomData.ToLowerInvariant(); } // case insensitive static string GetTitle(IMyTextPanel screen) { return screen.GetPublicTitle().ToLowerInvariant(); } // case insensitive static Chart Select(IMyTextPanel screen, Dictionary<string, Chart> dict, Func<IMyTextPanel, string> info) { foreach (var p in dict) if (info(screen).Contains(p.Key)) return p.Value; return null; } static Chart Select(IMyLightingBlock light, Dictionary<string, Chart> dict, Func<IMyLightingBlock, string> info) { foreach (var p in dict) if (info(light).Contains(p.Key)) return p.Value; return null; } public static Chart ForScreen(IMyTextPanel screen) { // select by title or LCD type Chart chart = null; chart = chart ?? Select(screen, Title, GetTitle); chart = chart ?? Select(screen, Subtype, GetSubtype); chart = chart ?? Standard; return chart; } public static Chart ForLight(IMyLightingBlock light) { // select by CustomData or subtype Chart chart = null; chart = chart ?? Select(light, Title, GetCustomData); chart = chart ?? Select(light, Subtype, GetSubtype); return chart; } public static void ShowFor(IMyTextPanel screen) { Chart chart; chart = ForScreen(screen); if (chart != null) chart.Show(screen); } public static void ShowFor(IMyLightingBlock light) { var chart = ForLight(light); if (chart != null) chart.Show(light); } public static void ShowFor(IMyProgrammableBlock comp) { var chart = Standard; if (chart != null) chart.Show(comp.GetSurface(0)); } public static void ShowFor(IMyShipController ctrl) { IMyTextSurfaceProvider ctrlb = ctrl as IMyTextSurfaceProvider; var chart = Standard; if (chart != null && ctrlb != null && ctrlb.SurfaceCount >= 2) chart.Show(ctrlb.GetSurface(1)); } } // SCREEN public static class Screen { public static Module Init() { var m = new Module(); m.Name = "Screen"; m.Scan = Rescan; m.Tick = Update; m.Parse = Parse; return m; } static void Update() { foreach (var s in Screens) Chart.ShowFor(s); foreach (var l in Lights) Chart.ShowFor(l); Chart.ShowFor(Scanner.Me); Chart.ShowFor(Vessel.Controller); } static bool Rescan() { Screens.Clear(); Lights.Clear(); //Surfs.Clear(); if (Scanner.Group == null) return true; // lack of group means don't find lcds and lights, which it might manipulate accidentally to great dismay Scanner.GetBlocksOfType(Screens); Scanner.GetBlocksOfType(Lights); /*foreach (var s in Screens) Surfs.Add(s as IMyTextSurface); if (Scanner.Me.SurfaceCount > 0) Surfs.Add(Scanner.Me.GetSurface(0)); // use main display of PB var ctrl = Vessel.Controller as IMyTextSurfaceProvider; if (ctrl != null && ctrl.SurfaceCount >= 2) Surfs.Add(ctrl.GetSurface(1)); // use second display of aligner group cockpit if (Surfs.Count == 0) Log.scan.AppendLine("No displays in group! Minimal diagnostics."); // not fatal Surfs.RemoveAll((s) => s == null);*/ return true; } static bool Parse(string[] tokens) { string varn = tokens[0]; if (tokens.Length == 1) { if (varn == "stop" || varn == "reset") Off(); // overload to turn "off" displays/lights else return false; } else { double dvalue; if (!double.TryParse(tokens[1], out dvalue)) return false; } return true; } public static int PipColumns(double pipsw, int charPips) { return (int)Math.Floor(pipsw / charPips); } public static int PipRows(double pipsh) { return (int)Math.Floor(pipsh / 33); } public static int FontColumns(double fontSize, int charPips) { // how many columns of char can fit on a standard screen at given fontSize? return PipColumns(584 / fontSize, charPips); } // aids scaling Charts shown on the wrong kind of panel public static bool IsWide(IMyTextPanel screen) { return screen.BlockDefinition.SubtypeId.Contains("Wide"); } public static bool IsCorner(IMyTextPanel screen) { return screen.BlockDefinition.SubtypeId.Contains("Corner"); } public static bool IsWide(IMyTextSurface surf) { return surf.SurfaceSize.X > surf.SurfaceSize.Y; } // turns all LCDs off to show "OFFLINE" or texture. public static void Off() { Update(); /*foreach (var surf in Surfs) //var s in Screens) { // clear screens on save, so that on Load we know anything written was from the loading script // var surf = s as IMyTextSurface; if (surf == null) continue; surf.WriteText(""); surf.BackgroundColor = Color.Black; surf.AddImageToSelection("Offline", true); surf.ContentType = ContentType.TEXT_AND_IMAGE; } foreach (var l in Lights) { SetLightColor(l, Color.Black); }*/ } public static void SetLightColor(IMyLightingBlock l, Color c) { l.Color = c; } // surfs is only used, to clear the screens on 'stop' //static List<IMyTextSurface> Surfs = new List<IMyTextSurface>(); static List<IMyTextPanel> Screens = new List<IMyTextPanel>(); static List<IMyLightingBlock> Lights = new List<IMyLightingBlock>(); } // GRAVITYALIGNER static class GravityAligner { public static Module Init() { var m = new Module(); m.Name = "GravityAligner"; return m; } public static void DisplayUsage() { Log.Echo(ScriptTitle + @""); } public static void StopOverrides() { Rotion.NoTurnVessel(); } } public void Save() { Module.Store(); } public Program() { Log.Echo = Echo; Chart.Logo.Text = ScriptTitle; Chart.Standard = Upright.PitchChart; // setup program execution structure by modules Module.run = Runtime; Module.Init(new Module[] { Scanner.Init(Me, GridTerminalSystem, GroupName), Time.Init(), Graph.Init(), Vessel.Init(), Rotion.Init(), Upright.Init(), GravityAligner.Init(), Log.Init(), Chart.Init(), Screen.Init(), }); Storage = ""; // unused, using Me.CustomData to persist Runtime.UpdateFrequency = Sandbox.ModAPI.Ingame.UpdateFrequency.Once; // give us a chance to load and initialize later once the block scan is available } public void Main(string arg, UpdateType updateSource) { try { Module.run = Runtime; if (!Module.Commands(arg, true)) GravityAligner.DisplayUsage(); Module.Update(); } catch (Exception e) { GravityAligner.StopOverrides(); throw new Exception("Main:\n" + e.Message); } } Go LargeBlockArmorSlope2Base Rusty_Armor 144115188075855895 LargeBlockModularBridgeCockpit 101455248046812659 Rusty_Armor 144115188075855895 144115188075855895 Faction MyInventoryBase true 0 1 9223372036854.775807 2147483647 CanReceive CanSend false MyMultiTextPanelComponent 0 1 NONE 4294967295 255 255 255 255 255 255 255 4278190080 0 0 0 0 0 0 255 0 SCRIPT TSS_ArtificialHorizon 2 true 4288108544 0 88 151 0 88 151 255 4294962611 179 237 255 179 237 255 255 0 0 1 NONE 4294967295 255 255 255 255 255 255 255 4278190080 0 0 0 0 0 0 255 0 SCRIPT TSS_EnergyHydrogen 2 true 4288108544 0 88 151 0 88 151 255 4294962611 179 237 255 179 237 255 255 0 [ARM] [HEAD] Bridge Helm false false false false 1 false Character Character Character 0.00155811431 0.04766212 0.000287964358 0.998862267 false 0 0 false 0 793696 LargeHalfSlopeArmorBlock Rusty_Armor 144115188075855895 Left Right LARGE_LINE Forward Backward LARGE_LINE Forward Backward LARGE_LINE Left Right LARGE_LINE Forward Backward LARGE_LINE Right Left LARGE_LINE Left Right LARGE_LINE Left Right LARGE_LINE Right Left LARGE_LINE Left Right LARGE_LINE [ARM] [HEAD] Connectors -6 0 1 -6 0 0 -6 0 -1 [ARM] [HEAD] Aligner -2 0 1 -2 0 -1 Large Grid 4067 true false 0 -7 -2 -4 -2 0 -1 -4 0 -1 None 0 76561198406231217 0