blueprints/Wavebreakers/[DAM] Shipyard/bp.sbc
2025-05-13 08:33:31 -07:00

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<MyObjectBuilder_InventoryItem>
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<PhysicalContent xsi:type="MyObjectBuilder_AmmoMagazine">
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<MyObjectBuilder_InventoryItem>
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<PhysicalContent xsi:type="MyObjectBuilder_PhysicalGunObject">
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<GunBase>
<SubtypeName />
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<RemainingAmmosList />
<LastShootTime>0</LastShootTime>
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<MyObjectBuilder_InventoryItem>
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<PhysicalContent xsi:type="MyObjectBuilder_Ingot">
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<Component xsi:type="MyObjectBuilder_Inventory">
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<OrientationAsVector>
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<CustomName>[YARD] Inset Connector</CustomName>
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<Component xsi:type="MyObjectBuilder_Inventory">
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<ShowInInventory>false</ShowInInventory>
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<DefinitionTypes />
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<ShareMode>Faction</ShareMode>
<ComponentContainer>
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<Component xsi:type="MyObjectBuilder_Inventory">
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<ComponentData>
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<ShowInInventory>false</ShowInInventory>
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<ShowInInventory>true</ShowInInventory>
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<Toolbar>
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<SelectedSlot xsi:nil="true" />
<Slots>
<Slot>
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<Item />
<Data xsi:type="MyObjectBuilder_ToolbarItemTerminalBlock">
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<Slot>
<Index>1</Index>
<Item />
<Data xsi:type="MyObjectBuilder_ToolbarItemTerminalGroup">
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<SlotsGamepad />
</Toolbar>
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<dictionary>
<item>
<Key>0</Key>
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</item>
<item>
<Key>1</Key>
<Value>[YARD] Beam Tools</Value>
</item>
</dictionary>
</CustomButtonNames>
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</CubeBlocks>
<IsStatic>true</IsStatic>
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<ConveyorLineConductivity>FORWARD</ConveyorLineConductivity>
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<MyObjectBuilder_ConveyorLine>
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<ConveyorLineType>LARGE_LINE</ConveyorLineType>
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<MyObjectBuilder_ConveyorLine>
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<ConveyorLineType>LARGE_LINE</ConveyorLineType>
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<MyObjectBuilder_ConveyorLine>
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<MyObjectBuilder_ConveyorLine>
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<StartDirection>Left</StartDirection>
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<EndDirection>Right</EndDirection>
<Sections />
<ConveyorLineType>LARGE_LINE</ConveyorLineType>
</MyObjectBuilder_ConveyorLine>
<MyObjectBuilder_ConveyorLine>
<StartPosition x="5" y="-3" z="-9" />
<StartDirection>Right</StartDirection>
<EndPosition x="6" y="-3" z="-9" />
<EndDirection>Left</EndDirection>
<Sections />
<ConveyorLineType>LARGE_LINE</ConveyorLineType>
</MyObjectBuilder_ConveyorLine>
<MyObjectBuilder_ConveyorLine>
<StartPosition x="7" y="-3" z="-9" />
<StartDirection>Left</StartDirection>
<EndPosition x="6" y="-3" z="-9" />
<EndDirection>Right</EndDirection>
<Sections />
<ConveyorLineType>LARGE_LINE</ConveyorLineType>
</MyObjectBuilder_ConveyorLine>
<MyObjectBuilder_ConveyorLine>
<StartPosition x="6" y="-3" z="-8" />
<StartDirection>Left</StartDirection>
<EndPosition x="5" y="-3" z="-8" />
<EndDirection>Right</EndDirection>
<Sections />
<ConveyorLineType>LARGE_LINE</ConveyorLineType>
</MyObjectBuilder_ConveyorLine>
<MyObjectBuilder_ConveyorLine>
<StartPosition x="6" y="-4" z="-10" />
<StartDirection>Up</StartDirection>
<EndPosition x="6" y="-3" z="-10" />
<EndDirection>Down</EndDirection>
<Sections />
<ConveyorLineType>LARGE_LINE</ConveyorLineType>
</MyObjectBuilder_ConveyorLine>
<MyObjectBuilder_ConveyorLine>
<StartPosition x="6" y="-3" z="-10" />
<StartDirection>Backward</StartDirection>
<EndPosition x="6" y="-3" z="-9" />
<EndDirection>Forward</EndDirection>
<Sections />
<ConveyorLineType>LARGE_LINE</ConveyorLineType>
</MyObjectBuilder_ConveyorLine>
<MyObjectBuilder_ConveyorLine>
<StartPosition x="6" y="-3" z="-9" />
<StartDirection>Backward</StartDirection>
<EndPosition x="6" y="-3" z="-8" />
<EndDirection>Forward</EndDirection>
<Sections />
<ConveyorLineType>LARGE_LINE</ConveyorLineType>
</MyObjectBuilder_ConveyorLine>
<MyObjectBuilder_ConveyorLine>
<StartPosition x="2" y="-3" z="-8" />
<StartDirection>Left</StartDirection>
<EndPosition x="1" y="-3" z="-8" />
<EndDirection>Right</EndDirection>
<Sections />
<ConveyorLineType>LARGE_LINE</ConveyorLineType>
</MyObjectBuilder_ConveyorLine>
<MyObjectBuilder_ConveyorLine>
<StartPosition x="9" y="-1" z="-11" />
<StartDirection>Forward</StartDirection>
<EndPosition x="9" y="-1" z="-12" />
<EndDirection>Backward</EndDirection>
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<ConveyorLineType>LARGE_LINE</ConveyorLineType>
</MyObjectBuilder_ConveyorLine>
<MyObjectBuilder_ConveyorLine>
<StartPosition x="3" y="-1" z="-11" />
<StartDirection>Forward</StartDirection>
<EndPosition x="3" y="-1" z="-12" />
<EndDirection>Backward</EndDirection>
<Sections />
<ConveyorLineType>LARGE_LINE</ConveyorLineType>
</MyObjectBuilder_ConveyorLine>
</ConveyorLines>
<BlockGroups>
<MyObjectBuilder_BlockGroup>
<Name>[YARD] Hydrogen Tanks</Name>
<Blocks>
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</Vector3I>
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</MyObjectBuilder_BlockGroup>
<MyObjectBuilder_BlockGroup>
<Name>[YARD] Hydrogen Filters</Name>
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</MyObjectBuilder_BlockGroup>
<MyObjectBuilder_BlockGroup>
<Name>[YARD] Engines</Name>
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<Vector3I>
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</Vector3I>
</Blocks>
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<MyObjectBuilder_BlockGroup>
<Name>[YARD] Ice Collectors</Name>
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<Vector3I>
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<Vector3I>
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</Vector3I>
</Blocks>
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<MyObjectBuilder_BlockGroup>
<Name>[YARD] H2/O2 Generators</Name>
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<Vector3I>
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</Vector3I>
</Blocks>
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<MyObjectBuilder_BlockGroup>
<Name>[YARD] Beam Tools</Name>
<Blocks>
<Vector3I>
<X>9</X>
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</Vector3I>
<Vector3I>
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</Vector3I>
</Blocks>
</MyObjectBuilder_BlockGroup>
</BlockGroups>
<DisplayName>[DAM] Shipyard</DisplayName>
<DestructibleBlocks>true</DestructibleBlocks>
<IsRespawnGrid>false</IsRespawnGrid>
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<NPCGridClaimElapsed xsi:nil="true" />
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<CubeGrid>
<SubtypeName />
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</PositionAndOrientation>
<LocalPositionAndOrientation xsi:nil="true" />
<GridSizeEnum>Large</GridSizeEnum>
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<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_PistonTop">
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<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_MotorAdvancedStator">
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<MyObjectBuilder_BlockGroup>
<Name>[ARM] Hinges</Name>
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<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_ConveyorConnector">
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<MyObjectBuilder_BlockGroup>
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<LocalPositionAndOrientation xsi:nil="true" />
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<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_CubeBlock">
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<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_AirVent">
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<SlotsGamepad />
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<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_Projector">
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<ShareMode>Faction</ShareMode>
<ComponentContainer>
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<Component xsi:type="MyObjectBuilder_ModStorageComponent">
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<dictionary>
<item>
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<KeepProjection>false</KeepProjection>
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<GetOwnershipFromProjector>false</GetOwnershipFromProjector>
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</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_MergeBlock">
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<DeformationRatio>0.5</DeformationRatio>
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<Component xsi:type="MyObjectBuilder_Inventory">
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<Items />
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<ComponentData>
<TypeId>MyTimerComponent</TypeId>
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</Component>
</ComponentData>
</Components>
</ComponentContainer>
<CustomName>[ARM] [HEAD] Remote Control</CustomName>
<ShowOnHUD>false</ShowOnHUD>
<ShowInTerminal>true</ShowInTerminal>
<ShowInToolbarConfig>true</ShowInToolbarConfig>
<ShowInInventory>true</ShowInInventory>
<NumberInGrid>1</NumberInGrid>
<UseSingleWeaponMode>false</UseSingleWeaponMode>
<Toolbar>
<ToolbarType>Character</ToolbarType>
<SelectedSlot xsi:nil="true" />
<Slots />
<SlotsGamepad />
</Toolbar>
<SelectedGunId xsi:nil="true" />
<BuildToolbar>
<ToolbarType>Character</ToolbarType>
<SelectedSlot xsi:nil="true" />
<Slots />
<SlotsGamepad />
</BuildToolbar>
<OnLockedToolbar>
<ToolbarType>Character</ToolbarType>
<SelectedSlot xsi:nil="true" />
<Slots />
<SlotsGamepad />
</OnLockedToolbar>
<IsTargetLockingEnabled>false</IsTargetLockingEnabled>
<PreviousControlledEntityId xsi:nil="true" />
<AutoPilotEnabled>false</AutoPilotEnabled>
<FlightMode>0</FlightMode>
<BindedCamera>0</BindedCamera>
<CurrentWaypointIndex>-1</CurrentWaypointIndex>
<Waypoints />
<Direction>0</Direction>
<DockingModeEnabled>false</DockingModeEnabled>
<CollisionAvoidance>false</CollisionAvoidance>
<Coords />
<Names />
<WaypointThresholdDistance>0</WaypointThresholdDistance>
<IsMainRemoteControl>true</IsMainRemoteControl>
<WaitForFreeWay>false</WaitForFreeWay>
<IsUpdatedSave>true</IsUpdatedSave>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_CubeBlock">
<SubtypeName>LargeBlockArmorSlope2Tip</SubtypeName>
<Min x="-2" y="0" z="-2" />
<BlockOrientation Forward="Left" Up="Forward" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<BuiltBy>144115188075855895</BuiltBy>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_CubeBlock">
<SubtypeName>LargeHalfArmorBlock</SubtypeName>
<Min x="-3" y="-1" z="-1" />
<BlockOrientation Forward="Up" Up="Backward" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<BuiltBy>144115188075855895</BuiltBy>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_Conveyor">
<SubtypeName>LargeBlockConveyor</SubtypeName>
<EntityId>127964667810858243</EntityId>
<Min x="-2" y="0" z="0" />
<BlockOrientation Forward="Up" Up="Right" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<BuiltBy>144115188075855895</BuiltBy>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_CubeBlock">
<SubtypeName>LargeBlockArmorSlope2Tip</SubtypeName>
<Min x="-3" y="-1" z="0" />
<BlockOrientation Forward="Left" Up="Down" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<BuiltBy>144115188075855895</BuiltBy>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_CubeBlock">
<SubtypeName>LargeHalfSlopeArmorBlock</SubtypeName>
<Min x="-3" y="1" z="0" />
<BlockOrientation Forward="Down" Up="Right" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<BuiltBy>144115188075855895</BuiltBy>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_CubeBlock">
<SubtypeName>LargeBlockArmorSlope2Tip</SubtypeName>
<Min x="-3" y="-1" z="1" />
<BlockOrientation Forward="Left" Up="Down" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<BuiltBy>144115188075855895</BuiltBy>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_CubeBlock">
<SubtypeName>LargeHalfArmorBlock</SubtypeName>
<Min x="-3" y="0" z="-2" />
<BlockOrientation Forward="Backward" Up="Down" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<BuiltBy>144115188075855895</BuiltBy>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_CubeBlock">
<SubtypeName>LargeBlockArmorSlope2Tip</SubtypeName>
<Min x="-3" y="-1" z="2" />
<BlockOrientation Forward="Left" Up="Down" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<BuiltBy>144115188075855895</BuiltBy>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_CubeBlock">
<SubtypeName>LargeBlockArmorSlope2Tip</SubtypeName>
<Min x="-3" y="1" z="2" />
<BlockOrientation Forward="Left" Up="Up" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<BuiltBy>144115188075855895</BuiltBy>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_CubeBlock">
<SubtypeName>LargeBlockArmorSlope2Tip</SubtypeName>
<Min x="-3" y="0" z="3" />
<BlockOrientation Forward="Left" Up="Backward" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<BuiltBy>144115188075855895</BuiltBy>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_ConveyorConnector">
<SubtypeName>ConveyorTube</SubtypeName>
<EntityId>120365775282191587</EntityId>
<Min x="-4" y="0" z="0" />
<BlockOrientation Forward="Up" Up="Right" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<BuiltBy>144115188075855895</BuiltBy>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_Conveyor">
<SubtypeName>LargeBlockConveyor</SubtypeName>
<EntityId>83071960289520538</EntityId>
<Min x="-3" y="0" z="0" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<BuiltBy>144115188075855895</BuiltBy>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_Gyro">
<SubtypeName>LargeBlockGyro</SubtypeName>
<EntityId>93310162859472422</EntityId>
<Min x="-2" y="0" z="1" />
<BlockOrientation Forward="Left" Up="Backward" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<Owner>144115188075855895</Owner>
<BuiltBy>144115188075855895</BuiltBy>
<ShareMode>Faction</ShareMode>
<CustomName>[ARM] [HEAD] Gyroscope</CustomName>
<ShowOnHUD>false</ShowOnHUD>
<ShowInTerminal>true</ShowInTerminal>
<ShowInToolbarConfig>true</ShowInToolbarConfig>
<ShowInInventory>true</ShowInInventory>
<NumberInGrid>1</NumberInGrid>
<Enabled>true</Enabled>
<GyroPower>0.1</GyroPower>
<GyroOverride>true</GyroOverride>
<TargetAngularVelocity x="0.000465824327" y="0" z="0" />
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_CubeBlock">
<SubtypeName>LargeHeavyHalfArmorBlock</SubtypeName>
<Min x="-5" y="0" z="3" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<BuiltBy>144115188075855895</BuiltBy>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_BatteryBlock">
<SubtypeName>LargeBlockBatteryBlock</SubtypeName>
<EntityId>125449712854756758</EntityId>
<Min x="-4" y="0" z="3" />
<BlockOrientation Forward="Backward" Up="Down" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<Owner>144115188075855895</Owner>
<BuiltBy>144115188075855895</BuiltBy>
<ShareMode>Faction</ShareMode>
<CustomName>[ARM] [HEAD] Battery</CustomName>
<ShowOnHUD>false</ShowOnHUD>
<ShowInTerminal>true</ShowInTerminal>
<ShowInToolbarConfig>true</ShowInToolbarConfig>
<ShowInInventory>true</ShowInInventory>
<NumberInGrid>3</NumberInGrid>
<Enabled>true</Enabled>
<CurrentStoredPower>3</CurrentStoredPower>
<ProducerEnabled>true</ProducerEnabled>
<MaxStoredPower>0</MaxStoredPower>
<SemiautoEnabled>false</SemiautoEnabled>
<OnlyDischargeEnabled>false</OnlyDischargeEnabled>
<ChargeMode>0</ChargeMode>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_CubeBlock">
<SubtypeName>LargeHalfArmorBlock</SubtypeName>
<Min x="-3" y="0" z="1" />
<BlockOrientation Forward="Right" Up="Down" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<BuiltBy>144115188075855895</BuiltBy>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_Conveyor">
<SubtypeName>LargeBlockConveyor</SubtypeName>
<EntityId>81086295033453224</EntityId>
<Min x="-1" y="0" z="0" />
<BlockOrientation Forward="Up" Up="Right" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<BuiltBy>144115188075855895</BuiltBy>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_CubeBlock">
<SubtypeName>LargeHalfArmorBlock</SubtypeName>
<Min x="-2" y="1" z="-1" />
<BlockOrientation Forward="Down" Up="Forward" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<BuiltBy>144115188075855895</BuiltBy>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_CubeBlock">
<SubtypeName>LargeHalfArmorBlock</SubtypeName>
<Min x="-2" y="-1" z="-1" />
<BlockOrientation Forward="Up" Up="Backward" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<BuiltBy>144115188075855895</BuiltBy>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_CubeBlock">
<SubtypeName>LargeHalfArmorBlock</SubtypeName>
<Min x="-3" y="0" z="2" />
<BlockOrientation Forward="Right" Up="Down" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<BuiltBy>144115188075855895</BuiltBy>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_MyProgrammableBlock">
<SubtypeName>LargeProgrammableBlock</SubtypeName>
<EntityId>132683279032818408</EntityId>
<Min x="-1" y="0" z="1" />
<BlockOrientation Forward="Left" Up="Backward" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<Owner>144115188075855895</Owner>
<BuiltBy>144115188075855895</BuiltBy>
<ShareMode>Faction</ShareMode>
<ComponentContainer>
<Components>
<ComponentData>
<TypeId>MyMultiTextPanelComponent</TypeId>
<Component xsi:type="MyObjectBuilder_MultiTextPanelComponent">
<TextPanelsContents>
<MySerializedTextPanelData>
<ChangeInterval>0</ChangeInterval>
<Font Type="MyObjectBuilder_FontDefinition" Subtype="Debug" />
<FontSize>2.1</FontSize>
<Text>Turning: align
rx: 0
ry: 0 °/s
rz: 0
</Text>
<ShowText>NONE</ShowText>
<FontColor>
<PackedValue>4278255365</PackedValue>
<X>5</X>
<Y>255</Y>
<Z>0</Z>
<R>5</R>
<G>255</G>
<B>0</B>
<A>255</A>
</FontColor>
<BackgroundColor>
<PackedValue>4278190080</PackedValue>
<X>0</X>
<Y>0</Y>
<Z>0</Z>
<R>0</R>
<G>0</G>
<B>0</B>
<A>255</A>
</BackgroundColor>
<CurrentShownTexture>0</CurrentShownTexture>
<ContentType>TEXT_AND_IMAGE</ContentType>
<SelectedScript />
<TextPadding>2</TextPadding>
<ScriptBackgroundColor>
<PackedValue>4288108544</PackedValue>
<X>0</X>
<Y>88</Y>
<Z>151</Z>
<R>0</R>
<G>88</G>
<B>151</B>
<A>255</A>
</ScriptBackgroundColor>
<ScriptForegroundColor>
<PackedValue>4294962611</PackedValue>
<X>179</X>
<Y>237</Y>
<Z>255</Z>
<R>179</R>
<G>237</G>
<B>255</B>
<A>255</A>
</ScriptForegroundColor>
<Sprites>
<Length>0</Length>
</Sprites>
</MySerializedTextPanelData>
<MySerializedTextPanelData>
<ChangeInterval>0</ChangeInterval>
<Font Type="MyObjectBuilder_FontDefinition" Subtype="Debug" />
<FontSize>3.5</FontSize>
<Text>Gravity Align
Script</Text>
<ShowText>NONE</ShowText>
<FontColor>
<PackedValue>4294950656</PackedValue>
<X>0</X>
<Y>191</Y>
<Z>255</Z>
<R>0</R>
<G>191</G>
<B>255</B>
<A>255</A>
</FontColor>
<BackgroundColor>
<PackedValue>4278190080</PackedValue>
<X>0</X>
<Y>0</Y>
<Z>0</Z>
<R>0</R>
<G>0</G>
<B>0</B>
<A>255</A>
</BackgroundColor>
<CurrentShownTexture>0</CurrentShownTexture>
<Alignment>2</Alignment>
<ContentType>TEXT_AND_IMAGE</ContentType>
<SelectedScript />
<TextPadding>20</TextPadding>
<ScriptBackgroundColor>
<PackedValue>4288108544</PackedValue>
<X>0</X>
<Y>88</Y>
<Z>151</Z>
<R>0</R>
<G>88</G>
<B>151</B>
<A>255</A>
</ScriptBackgroundColor>
<ScriptForegroundColor>
<PackedValue>4294962611</PackedValue>
<X>179</X>
<Y>237</Y>
<Z>255</Z>
<R>179</R>
<G>237</G>
<B>255</B>
<A>255</A>
</ScriptForegroundColor>
<Sprites>
<Length>0</Length>
</Sprites>
</MySerializedTextPanelData>
</TextPanelsContents>
</Component>
</ComponentData>
<ComponentData>
<TypeId>MyModStorageComponent</TypeId>
<Component xsi:type="MyObjectBuilder_ModStorageComponent">
<Storage>
<dictionary>
<item>
<Key>74de02b3-27f9-4960-b1c4-27351f2b06d1</Key>
<Value>// 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</Value>
</item>
</dictionary>
</Storage>
</Component>
</ComponentData>
</Components>
</ComponentContainer>
<CustomName>[ARM] [HEAD] Aligner Script</CustomName>
<ShowOnHUD>false</ShowOnHUD>
<ShowInTerminal>false</ShowInTerminal>
<ShowInToolbarConfig>false</ShowInToolbarConfig>
<ShowInInventory>true</ShowInInventory>
<NumberInGrid>1</NumberInGrid>
<Enabled>true</Enabled>
<Program>// 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&lt;IMyTerminalBlock&gt; Blocks = new List&lt;IMyTerminalBlock&gt;();
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 &gt;= 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&lt;T&gt;(List&lt;T&gt; 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 &amp;&amp; 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) &amp;&amp; !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&lt;bool&gt; Scan = () =&gt; true; // skip scan and report success
public Func&lt;string[], bool&gt; Parse = s =&gt; false; // parse one pre-tokenized command, unhandled
public Action Tick = () =&gt; { }; // called once per frame; use Time module!
public Func&lt;string[]&gt; Save = () =&gt; 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&lt;Module&gt; All = new List&lt;Module&gt;();
// Add all Modules during Program constructor.
public static void Init(IEnumerable&lt;Module&gt; 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 &amp;&amp; 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 &amp;&amp; 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&lt;string&gt; saved = new List&lt;string&gt;();
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 &lt; 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" &amp;&amp; val &gt;= 1 &amp;&amp; val &lt;= 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 &lt; 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) =&gt; TimeSpan.FromTicks((long)(1e4 * n));
public static TimeSpan s(double n) =&gt; TimeSpan.FromTicks((long)(1e7 * n));
public static TimeSpan Frequency(double hz) =&gt; 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) &gt; 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 &lt; 0) throw new ArgumentException("must be &gt;= 0", "d");
if (r &lt;= 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 &lt; 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 &gt;= .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 &lt; -clip ? x + clip : x &gt; 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 &lt; -double.Epsilon ? x - pad : x &gt; 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&lt;float&gt; 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) &lt; tiny) v = 0; // flush tiny #s to zero
var old = p.GetValue(b);
float mindelta = Math.Abs(old) * mindeltafraction + .002f;
if ((v == 0 &amp;&amp; old == 0) || Math.Abs(old - v) &lt; 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) &lt; (dig &lt; 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&amp;1) != 0) { e = 1 - f; f = 1; } else { e = 1; }
if (i &lt; 2) c = new Vector3(e, f, 0);
else if (i &lt; 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 &amp; 1) == 0) --w; // width should be odd
if (Math.Abs(v) &gt; maxi) return new string(v &lt; 0 ? '' : '', w);
int c = w &gt;&gt; 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 &lt; -limit ? '' : v &gt; 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 &lt; .01f) // &amp;&amp; UseArtificialGravity)
//{
// World = c.GetArtificialGravity(); // maybe on a station w gravity?
// Strength = (float)World.Length();
//}
if (Strength &lt; .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 &amp;&amp; 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&lt;IMyShipController&gt; Controllers = new List&lt;IMyShipController&gt;();
}
// 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() &gt; 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 &lt; 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) &lt; mini) lrot.X = 0; // flush proportionally small non-primary-axis fiddly manipulations to zero
// if (Math.Abs(lrot.Y) &lt; mini) lrot.Y = 0;
// if (Math.Abs(lrot.Z) &lt; mini) lrot.Z = 0;
Explain(lrot, why);
//rot *= new Vector3I(0,0,0); if (rot.LengthSquared() &lt; 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 &gt;= glo &amp;&amp; i &lt;= ghi) // only update gyros in bucket scheduled to update this tick
TurnGyro(gyro, lrot, true);
++i;
}
if (DateTime.Now &gt;= nextSteeringTime) // next cycle yet?
if (DateTime.Now &gt; (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() &gt; 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() &gt; 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" &amp;&amp; val &gt;= 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 &gt; 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 &lt; 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 &amp;&amp; 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 &gt; 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 &lt; 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&lt;IMyGyro&gt; Gyros = new List&lt;IMyGyro&gt;();
static Dictionary&lt;IMyGyro, DateTime&gt; GyroUpdate = new Dictionary&lt;IMyGyro, DateTime&gt;(); // do not update until
static ITerminalProperty&lt;bool&gt; propGyroOverride; // gyro
static ITerminalProperty&lt;float&gt; 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 &lt; .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) &gt; PitchAngleSlopDegrees * Rotion.deg2rad || Math.Abs(clippedlimits.Z) &gt; 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 &amp;&amp; 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 &lt;= float.Epsilon) sv.X -= steeringPitch;
if (steeringRoll * response.Z &lt;= 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" &amp;&amp; vf &gt;= 0)
PitchTiltMaxDegrees = vf;
else if ((varn == "pitchangleclipdegrees" || varn == "pitchclip") &amp;&amp; vf &gt;= 0)
PitchAngleClipDegrees = vf;
else if ((varn == "rollangleclipdegrees" || varn == "rollclip") &amp;&amp; vf &gt;= 0)
RollAngleClipDegrees = vf;
else if ((varn == "pitchangleslopdegrees" || varn == "pitchslop") &amp;&amp; vf &gt;= 0)
PitchAngleSlopDegrees = vf;
else if ((varn == "rollangleslopdegrees" || varn == "rollslop") &amp;&amp; vf &gt;= 0)
RollAngleSlopDegrees = vf;
else if (varn == "steeringsensitivity" &amp;&amp; vf &gt;= 0)
Sensitivity = vf;
else if (varn == "pitchsensitivity" &amp;&amp; vf &gt;= 0)
PitchSensitivity = vf;
else if (varn == "gyrostoppability" &amp;&amp; vf &gt;= 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&lt;string&gt; Echo = s =&gt; {}; // 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 &gt; 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 &lt;= 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 &amp;&amp; Screen.IsWide(display)) Param *= 2;
// else if (Screen.IsCorner(display) &amp;&amp; (!Compact || display.CubeGrid.GridSize &gt; 1f)) Param *= .5f;
if (Param &gt; 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&lt;string, Chart&gt; Title = new Dictionary&lt;string, Chart&gt;(); // map each Public Title for screens (CustomData for other blocks) substring to its graph; only put lowercase strings as keys!
public static Dictionary&lt;string, Chart&gt; Subtype = new Dictionary&lt;string, Chart&gt;(); // 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&lt;string, Chart&gt; dict, Func&lt;IMyTextPanel, string&gt; info)
{
foreach (var p in dict) if (info(screen).Contains(p.Key)) return p.Value;
return null;
}
static Chart Select(IMyLightingBlock light, Dictionary&lt;string, Chart&gt; dict, Func&lt;IMyLightingBlock, string&gt; 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 &amp;&amp; ctrlb != null &amp;&amp; ctrlb.SurfaceCount &gt;= 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 &gt; 0)
Surfs.Add(Scanner.Me.GetSurface(0)); // use main display of PB
var ctrl = Vessel.Controller as IMyTextSurfaceProvider;
if (ctrl != null &amp;&amp; ctrl.SurfaceCount &gt;= 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) =&gt; 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 &gt; 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&lt;IMyTextSurface&gt; Surfs = new List&lt;IMyTextSurface&gt;();
static List&lt;IMyTextPanel&gt; Screens = new List&lt;IMyTextPanel&gt;();
static List&lt;IMyLightingBlock&gt; Lights = new List&lt;IMyLightingBlock&gt;();
}
// 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);
}
}
</Program>
<Storage />
<DefaultRunArgument>Go</DefaultRunArgument>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_CubeBlock">
<SubtypeName>LargeBlockArmorSlope2Base</SubtypeName>
<Min x="-1" y="0" z="-1" />
<BlockOrientation Forward="Left" Up="Forward" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<BuiltBy>144115188075855895</BuiltBy>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_Cockpit">
<SubtypeName>LargeBlockModularBridgeCockpit</SubtypeName>
<EntityId>101455248046812659</EntityId>
<Min x="-5" y="0" z="-3" />
<BlockOrientation Forward="Left" Up="Forward" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<Owner>144115188075855895</Owner>
<BuiltBy>144115188075855895</BuiltBy>
<ShareMode>Faction</ShareMode>
<ComponentContainer>
<Components>
<ComponentData>
<TypeId>MyInventoryBase</TypeId>
<Component xsi:type="MyObjectBuilder_Inventory">
<CanPutItems>true</CanPutItems>
<Items />
<nextItemId>0</nextItemId>
<Volume>1</Volume>
<Mass>9223372036854.775807</Mass>
<MaxItemCount>2147483647</MaxItemCount>
<Size xsi:nil="true" />
<InventoryFlags>CanReceive CanSend</InventoryFlags>
<RemoveEntityOnEmpty>false</RemoveEntityOnEmpty>
</Component>
</ComponentData>
<ComponentData>
<TypeId>MyMultiTextPanelComponent</TypeId>
<Component xsi:type="MyObjectBuilder_MultiTextPanelComponent">
<TextPanelsContents>
<MySerializedTextPanelData>
<ChangeInterval>0</ChangeInterval>
<Font Type="MyObjectBuilder_FontDefinition" Subtype="Debug" />
<FontSize>1</FontSize>
<ShowText>NONE</ShowText>
<FontColor>
<PackedValue>4294967295</PackedValue>
<X>255</X>
<Y>255</Y>
<Z>255</Z>
<R>255</R>
<G>255</G>
<B>255</B>
<A>255</A>
</FontColor>
<BackgroundColor>
<PackedValue>4278190080</PackedValue>
<X>0</X>
<Y>0</Y>
<Z>0</Z>
<R>0</R>
<G>0</G>
<B>0</B>
<A>255</A>
</BackgroundColor>
<CurrentShownTexture>0</CurrentShownTexture>
<ContentType>SCRIPT</ContentType>
<SelectedScript>TSS_ArtificialHorizon</SelectedScript>
<TextPadding>2</TextPadding>
<CustomizeScripts>true</CustomizeScripts>
<ScriptBackgroundColor>
<PackedValue>4288108544</PackedValue>
<X>0</X>
<Y>88</Y>
<Z>151</Z>
<R>0</R>
<G>88</G>
<B>151</B>
<A>255</A>
</ScriptBackgroundColor>
<ScriptForegroundColor>
<PackedValue>4294962611</PackedValue>
<X>179</X>
<Y>237</Y>
<Z>255</Z>
<R>179</R>
<G>237</G>
<B>255</B>
<A>255</A>
</ScriptForegroundColor>
<Sprites>
<Length>0</Length>
</Sprites>
</MySerializedTextPanelData>
<MySerializedTextPanelData>
<ChangeInterval>0</ChangeInterval>
<Font Type="MyObjectBuilder_FontDefinition" Subtype="Debug" />
<FontSize>1</FontSize>
<ShowText>NONE</ShowText>
<FontColor>
<PackedValue>4294967295</PackedValue>
<X>255</X>
<Y>255</Y>
<Z>255</Z>
<R>255</R>
<G>255</G>
<B>255</B>
<A>255</A>
</FontColor>
<BackgroundColor>
<PackedValue>4278190080</PackedValue>
<X>0</X>
<Y>0</Y>
<Z>0</Z>
<R>0</R>
<G>0</G>
<B>0</B>
<A>255</A>
</BackgroundColor>
<CurrentShownTexture>0</CurrentShownTexture>
<ContentType>SCRIPT</ContentType>
<SelectedScript>TSS_EnergyHydrogen</SelectedScript>
<TextPadding>2</TextPadding>
<CustomizeScripts>true</CustomizeScripts>
<ScriptBackgroundColor>
<PackedValue>4288108544</PackedValue>
<X>0</X>
<Y>88</Y>
<Z>151</Z>
<R>0</R>
<G>88</G>
<B>151</B>
<A>255</A>
</ScriptBackgroundColor>
<ScriptForegroundColor>
<PackedValue>4294962611</PackedValue>
<X>179</X>
<Y>237</Y>
<Z>255</Z>
<R>179</R>
<G>237</G>
<B>255</B>
<A>255</A>
</ScriptForegroundColor>
<Sprites>
<Length>0</Length>
</Sprites>
</MySerializedTextPanelData>
</TextPanelsContents>
</Component>
</ComponentData>
</Components>
</ComponentContainer>
<CustomName>[ARM] [HEAD] Bridge Helm</CustomName>
<ShowOnHUD>false</ShowOnHUD>
<ShowInTerminal>false</ShowInTerminal>
<ShowInToolbarConfig>false</ShowInToolbarConfig>
<ShowInInventory>false</ShowInInventory>
<NumberInGrid>1</NumberInGrid>
<UseSingleWeaponMode>false</UseSingleWeaponMode>
<Toolbar>
<ToolbarType>Character</ToolbarType>
<SelectedSlot xsi:nil="true" />
<Slots />
<SlotsGamepad />
</Toolbar>
<SelectedGunId xsi:nil="true" />
<BuildToolbar>
<ToolbarType>Character</ToolbarType>
<SelectedSlot xsi:nil="true" />
<Slots />
<SlotsGamepad />
</BuildToolbar>
<OnLockedToolbar>
<ToolbarType>Character</ToolbarType>
<SelectedSlot xsi:nil="true" />
<Slots />
<SlotsGamepad />
</OnLockedToolbar>
<PilotRelativeWorld>
<Position x="0.05383029580116272" y="-2.4711763858795166" z="4.4431853294372559" />
<Forward x="-0.09521668" y="0.003085233" z="-0.995451748" />
<Up x="-0.00042674478" y="0.999994934" z="0.00314016" />
<Orientation>
<X>0.00155811431</X>
<Y>0.04766212</Y>
<Z>0.000287964358</Z>
<W>0.998862267</W>
</Orientation>
</PilotRelativeWorld>
<PilotGunDefinition xsi:nil="true" />
<IsInFirstPersonView>false</IsInFirstPersonView>
<OxygenLevel>0</OxygenLevel>
<PilotJetpackEnabled xsi:nil="true" />
<TargetData>
<TargetId>0</TargetId>
<IsTargetLocked>false</IsTargetLocked>
<LockingProgress>0</LockingProgress>
</TargetData>
<SitAnimation>793696</SitAnimation>
</MyObjectBuilder_CubeBlock>
<MyObjectBuilder_CubeBlock xsi:type="MyObjectBuilder_CubeBlock">
<SubtypeName>LargeHalfSlopeArmorBlock</SubtypeName>
<Min x="-6" y="0" z="-3" />
<BlockOrientation Forward="Right" Up="Forward" />
<ColorMaskHSV x="0" y="-0.8" z="-0.28" />
<SkinSubtypeId>Rusty_Armor</SkinSubtypeId>
<BuiltBy>144115188075855895</BuiltBy>
</MyObjectBuilder_CubeBlock>
</CubeBlocks>
<LinearVelocity x="0.0373681076" y="-0.11945948" z="0.0111234011" />
<AngularVelocity x="-0.00393172028" y="0.00312904851" z="0.00343479821" />
<ConveyorLines>
<MyObjectBuilder_ConveyorLine>
<StartPosition x="0" y="0" z="0" />
<StartDirection>Left</StartDirection>
<EndPosition x="-1" y="0" z="0" />
<EndDirection>Right</EndDirection>
<Sections />
<ConveyorLineType>LARGE_LINE</ConveyorLineType>
</MyObjectBuilder_ConveyorLine>
<MyObjectBuilder_ConveyorLine>
<StartPosition x="-5" y="0" z="2" />
<StartDirection>Forward</StartDirection>
<EndPosition x="-5" y="0" z="1" />
<EndDirection>Backward</EndDirection>
<Sections />
<ConveyorLineType>LARGE_LINE</ConveyorLineType>
</MyObjectBuilder_ConveyorLine>
<MyObjectBuilder_ConveyorLine>
<StartPosition x="-5" y="0" z="1" />
<StartDirection>Forward</StartDirection>
<EndPosition x="-5" y="0" z="0" />
<EndDirection>Backward</EndDirection>
<Sections />
<ConveyorLineType>LARGE_LINE</ConveyorLineType>
</MyObjectBuilder_ConveyorLine>
<MyObjectBuilder_ConveyorLine>
<StartPosition x="-5" y="0" z="1" />
<StartDirection>Left</StartDirection>
<EndPosition x="-6" y="0" z="1" />
<EndDirection>Right</EndDirection>
<Sections />
<ConveyorLineType>LARGE_LINE</ConveyorLineType>
</MyObjectBuilder_ConveyorLine>
<MyObjectBuilder_ConveyorLine>
<StartPosition x="-5" y="0" z="0" />
<StartDirection>Forward</StartDirection>
<EndPosition x="-5" y="0" z="-1" />
<EndDirection>Backward</EndDirection>
<Sections />
<ConveyorLineType>LARGE_LINE</ConveyorLineType>
</MyObjectBuilder_ConveyorLine>
<MyObjectBuilder_ConveyorLine>
<StartPosition x="-5" y="0" z="0" />
<StartDirection>Right</StartDirection>
<EndPosition x="-3" y="0" z="0" />
<EndDirection>Left</EndDirection>
<Sections />
<ConveyorLineType>LARGE_LINE</ConveyorLineType>
</MyObjectBuilder_ConveyorLine>
<MyObjectBuilder_ConveyorLine>
<StartPosition x="-5" y="0" z="0" />
<StartDirection>Left</StartDirection>
<EndPosition x="-6" y="0" z="0" />
<EndDirection>Right</EndDirection>
<Sections />
<ConveyorLineType>LARGE_LINE</ConveyorLineType>
</MyObjectBuilder_ConveyorLine>
<MyObjectBuilder_ConveyorLine>
<StartPosition x="-5" y="0" z="-1" />
<StartDirection>Left</StartDirection>
<EndPosition x="-6" y="0" z="-1" />
<EndDirection>Right</EndDirection>
<Sections />
<ConveyorLineType>LARGE_LINE</ConveyorLineType>
</MyObjectBuilder_ConveyorLine>
<MyObjectBuilder_ConveyorLine>
<StartPosition x="-2" y="0" z="0" />
<StartDirection>Right</StartDirection>
<EndPosition x="-1" y="0" z="0" />
<EndDirection>Left</EndDirection>
<Sections />
<ConveyorLineType>LARGE_LINE</ConveyorLineType>
</MyObjectBuilder_ConveyorLine>
<MyObjectBuilder_ConveyorLine>
<StartPosition x="-2" y="0" z="0" />
<StartDirection>Left</StartDirection>
<EndPosition x="-3" y="0" z="0" />
<EndDirection>Right</EndDirection>
<Sections />
<ConveyorLineType>LARGE_LINE</ConveyorLineType>
</MyObjectBuilder_ConveyorLine>
</ConveyorLines>
<BlockGroups>
<MyObjectBuilder_BlockGroup>
<Name>[ARM] [HEAD] Connectors</Name>
<Blocks>
<Vector3I>
<X>-6</X>
<Y>0</Y>
<Z>1</Z>
</Vector3I>
<Vector3I>
<X>-6</X>
<Y>0</Y>
<Z>0</Z>
</Vector3I>
<Vector3I>
<X>-6</X>
<Y>0</Y>
<Z>-1</Z>
</Vector3I>
</Blocks>
</MyObjectBuilder_BlockGroup>
<MyObjectBuilder_BlockGroup>
<Name>[ARM] [HEAD] Aligner</Name>
<Blocks>
<Vector3I>
<X>-2</X>
<Y>0</Y>
<Z>1</Z>
</Vector3I>
<Vector3I>
<X>-2</X>
<Y>0</Y>
<Z>-1</Z>
</Vector3I>
</Blocks>
</MyObjectBuilder_BlockGroup>
</BlockGroups>
<DisplayName>Large Grid 4067</DisplayName>
<DestructibleBlocks>true</DestructibleBlocks>
<IsRespawnGrid>false</IsRespawnGrid>
<LocalCoordSys>0</LocalCoordSys>
<TargetingTargets />
<OxygenRooms>
<OxygenRoom OxygenAmount="421.875">
<StartingPosition>
<X>-7</X>
<Y>-2</Y>
<Z>-4</Z>
</StartingPosition>
</OxygenRoom>
<OxygenRoom OxygenAmount="15.625">
<StartingPosition>
<X>-2</X>
<Y>0</Y>
<Z>-1</Z>
</StartingPosition>
</OxygenRoom>
<OxygenRoom OxygenAmount="125">
<StartingPosition>
<X>-4</X>
<Y>0</Y>
<Z>-1</Z>
</StartingPosition>
</OxygenRoom>
</OxygenRooms>
<NPCGridClaimElapsed xsi:nil="true" />
</CubeGrid>
</CubeGrids>
<EnvironmentType>None</EnvironmentType>
<WorkshopId>0</WorkshopId>
<OwnerSteamId>76561198406231217</OwnerSteamId>
<Points>0</Points>
</ShipBlueprint>
</ShipBlueprints>
</Definitions>