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YarekTyshchenko/CruiseControl.cs

Last active January 16, 2023 23:45
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Revisions

  1. YarekTyshchenko revised this gist Dec 25, 2015. 3 changed files with 31 additions and 4 deletions.
    7 changes: 3 additions & 4 deletions CruiseControl.cs
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    Original file line number Diff line number Diff line change
    @@ -18,19 +18,18 @@ private void simpleImplementation(double currentSpeed) {
    for(var i = 0; i < this.thrusters.Count; i++) {
    IMyTerminalBlock t = (IMyTerminalBlock)this.thrusters[i];
    // If going too fast
    if (currentSpeed > targetSpeed) {
    if (!this.enabled || currentSpeed > targetSpeed) {
    // Turn all thrusters off
    t.GetActionWithName("OnOff_Off").Apply(t);
    } else {
    // Turn all thrusters on
    if (this.enabled) {
    t.GetActionWithName("OnOff_On").Apply(t);
    }
    t.GetActionWithName("OnOff_On").Apply(t);
    }
    }
    }

    public void enable(bool enable = true) {
    this.enabled = enable;
    this.recompute(this.targetSpeed);
    }
    }
    16 changes: 16 additions & 0 deletions Delay.cs
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    @@ -0,0 +1,16 @@
    class Delay {
    DateTime startTime;
    double duration;
    public Delay(double seconds) {
    this.duration = seconds;
    }

    public bool expired() {
    DateTime finishTime = this.startTime.AddSeconds(this.duration);
    return System.DateTime.Now >= finishTime;
    }

    public void start() {
    this.startTime = System.DateTime.Now;
    }
    }
    12 changes: 12 additions & 0 deletions Delay_usage.cs
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    @@ -0,0 +1,12 @@
    void Main(string arg) {
    // create 60 second delay
    Delay d1 = new Delay(60);

    if (d1.expired()) {
    // 60 seconds have passed
    // (Or this is the first time we check the delay)
    d1.start();

    // Do action
    }
    }
  2. YarekTyshchenko revised this gist Dec 21, 2015. 2 changed files with 67 additions and 0 deletions.
    46 changes: 46 additions & 0 deletions StringStateMachine.cs
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    Original file line number Diff line number Diff line change
    @@ -0,0 +1,46 @@
    public class StringStateMachine {
    private struct State {
    public Action enter;
    public Action exit;
    public Action update;
    }
    private Dictionary<string, State> stateHash = new Dictionary<string, State>();
    private string currentState = "idle";
    private Action<string> log = delegate(string s) {};

    public void setState(string state, Action enter, Action exit, Action update) {
    State s = new State();
    s.enter = enter;
    s.exit = exit;
    s.update = update;
    stateHash.Add(state, s);
    }

    public void transition(string newState) {
    // If transition is valid (New state exists)
    if (! stateHash.ContainsKey(newState)) {
    // Log invalid state transition
    this.log("State '"+newState+"' doesn't exist");
    return;
    }
    // If current state is set
    State oldState = stateHash[currentState];
    oldState.exit();

    // Get new state (Is there a memory leak here?)
    State state = stateHash[newState];
    this.log("Entering state '"+newState+"'");
    currentState = newState;
    state.enter();
    }

    public void update() {
    // If current state is set
    State state = stateHash[currentState];
    state.update();
    }

    public void setLogger(Action<string> logger) {
    this.log = logger;
    }
    }
    21 changes: 21 additions & 0 deletions StringStateMachine_usage.cs
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    Original file line number Diff line number Diff line change
    @@ -0,0 +1,21 @@
    StringStateMachine stateMachine;
    void Main(string arg) {
    stateMachine = new StringStateMachine();
    stateMachine.setState("idle", delegate(){}, delegate(){}, delegate(){});
    stateMachine.setState("go", delegate() {
    // Code run on transition *into* this state
    // Example:
    // Set thrusters override
    // Enable forward sensors
    // Lock down connectors for travel
    }, delegate() {
    // Code run on *exit* from this state
    // Example: Stop all engines
    }, delegate() {
    // Code run every update while in this state
    // Example:
    // Check for objects on collision course
    // If detected: stateMachine.transition("idle");
    });
    stateMachine.update();
    }
  3. YarekTyshchenko revised this gist Dec 21, 2015. 1 changed file with 20 additions and 0 deletions.
    20 changes: 20 additions & 0 deletions Navigator_usage.cs
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    Original file line number Diff line number Diff line change
    @@ -0,0 +1,20 @@
    Navigator.Maneuver m;
    void Main(string arg) {
    Navigator nav = new Navigator();
    // Add in gyros overridden in the correct directions
    nav.addGyro(Navigator.Direction.Left, GridTerminalSystem.GetBlockWithName("Gyroscope Left") as IMyGyro);
    nav.addGyro(Navigator.Direction.Right, GridTerminalSystem.GetBlockWithName("Gyroscope Right") as IMyGyro);
    nav.addGyro(Navigator.Direction.Up, GridTerminalSystem.GetBlockWithName("Gyroscope Up") as IMyGyro);
    nav.addGyro(Navigator.Direction.Down, GridTerminalSystem.GetBlockWithName("Gyroscope Down") as IMyGyro);

    // Trigger the turn somehow
    if (arg == "left") {
    m = nav.Turn(5, Navigator.Direction.Left);
    }

    // If the maneuver is done
    if (m.finished()) {
    nav.stop();
    m.isSet = false;
    }
    }
  4. YarekTyshchenko revised this gist Dec 21, 2015. 1 changed file with 75 additions and 0 deletions.
    75 changes: 75 additions & 0 deletions Navigator.cs
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    Original file line number Diff line number Diff line change
    @@ -0,0 +1,75 @@
    public class Navigator {
    private Dictionary<ushort, IMyGyro> gyros = new Dictionary<ushort, IMyGyro>();
    public class Direction {
    public const ushort Left = 0;
    public const ushort Right = 1;
    public const ushort Up = 2;
    public const ushort Down = 3;
    }

    public void addGyro(ushort direction, IMyGyro gyro) {
    this.gyros.Add(direction, gyro);
    }

    public struct Maneuver {
    public bool isSet;
    public DateTime timeStarted;
    public ushort direction;
    public double startAngle;
    public double duration;
    public bool finished() {
    DateTime finishTime = this.timeStarted.AddSeconds(this.duration);
    return System.DateTime.Now >= finishTime;
    }

    public bool IsSet() {
    return this.isSet;
    }

    public string ToString() {
    DateTime finishTime = this.timeStarted.AddSeconds(this.duration);

    double done = (finishTime - System.DateTime.Now).TotalSeconds;
    return "D:" + this.direction + ", " + this.timeStarted.ToString() + " \nfor " + this.duration + " Done in "+ Math.Round(done, 3);
    }
    }

    private Maneuver activeManeuver;

    private void TurnOnGyro(ushort direction) {
    IMyTerminalBlock tb = (IMyTerminalBlock)this.gyros[direction];
    tb.GetActionWithName("OnOff_On").Apply(tb);
    }

    private void TurnOffGyro(ushort direction) {
    IMyTerminalBlock tb = (IMyTerminalBlock)this.gyros[direction];
    tb.GetActionWithName("OnOff_Off").Apply(tb);
    }

    public Maneuver Turn(double seconds, ushort direction) {
    Maneuver m = new Maneuver();
    m.isSet = true;
    m.timeStarted = System.DateTime.Now;
    m.direction = direction;
    m.duration = seconds;
    stop();
    TurnOnGyro(direction);
    return m;
    }

    public Maneuver MakeRandomTurn() {
    // Pick a direction
    Random rnd = new Random();
    ushort direction = (ushort)rnd.Next(0, 4);
    // Pick an angle (duration)
    double duration = rnd.NextDouble() * 3;
    return Turn(duration, direction);
    }

    public void stop() {
    TurnOffGyro(Direction.Left);
    TurnOffGyro(Direction.Right);
    TurnOffGyro(Direction.Up);
    TurnOffGyro(Direction.Down);
    }
    }
  5. YarekTyshchenko revised this gist Dec 21, 2015. 2 changed files with 52 additions and 0 deletions.
    36 changes: 36 additions & 0 deletions CruiseControl.cs
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    Original file line number Diff line number Diff line change
    @@ -0,0 +1,36 @@
    public class CruiseControl {
    private double targetSpeed = 0.0;
    private bool enabled;
    private List<IMyThrust> thrusters = new List<IMyThrust>();

    public void setTarget(double targetSpeed) {
    this.targetSpeed = targetSpeed;
    }
    public void addThruster(IMyThrust thruster) {
    this.thrusters.Add(thruster);
    }
    public void recompute(double currentSpeed) {
    // recompute the thruster override settings based on the current speed
    this.simpleImplementation(currentSpeed);
    }

    private void simpleImplementation(double currentSpeed) {
    for(var i = 0; i < this.thrusters.Count; i++) {
    IMyTerminalBlock t = (IMyTerminalBlock)this.thrusters[i];
    // If going too fast
    if (currentSpeed > targetSpeed) {
    // Turn all thrusters off
    t.GetActionWithName("OnOff_Off").Apply(t);
    } else {
    // Turn all thrusters on
    if (this.enabled) {
    t.GetActionWithName("OnOff_On").Apply(t);
    }
    }
    }
    }

    public void enable(bool enable = true) {
    this.enabled = enable;
    }
    }
    16 changes: 16 additions & 0 deletions CruiseControl_usage.cs
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    Original file line number Diff line number Diff line change
    @@ -0,0 +1,16 @@
    void Main(string arg) {
    // Create an instance
    CruiseControl cc = new CruiseControl();

    // Find all the thrusters that point in the direction of where you are going
    IMyThrust t = GridTerminalSystem.GetBlockWithName("CC (Forward) ") as IMyThrust;

    // Add them to the cruise control system
    cc.addThruster(t);

    // Set its target speed
    cc.setTarget(23.5);

    // Recompute on every update
    cc.recompute(sc.getSpeed());
    }
  6. YarekTyshchenko revised this gist Dec 21, 2015. 2 changed files with 101 additions and 0 deletions.
    84 changes: 84 additions & 0 deletions SpeedCalculator.cs
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    @@ -0,0 +1,84 @@
    public class SpeedCalculator {
    public struct Store {
    // Previous Time
    public DateTime time;
    // Previous position
    public Vector3D position;

    public static Store fromString(string storage) {
    Store store = new Store();
    // Get the fragments (or get one fragment)
    string[] Fragments = storage.Split('|');
    if(Fragments.Length == 2) {
    // Extract time
    store.time = System.DateTime.FromBinary(Convert.ToInt64(Fragments[0]));

    // Vomit a bit here because this is how we have to store variables at the moment ...
    string[] Coords = Fragments[1].Split(',');
    double X = Math.Round(Convert.ToDouble(Coords[0]), 4);
    double Y = Math.Round(Convert.ToDouble(Coords[1]), 4);
    double Z = Math.Round(Convert.ToDouble(Coords[2]), 4);
    store.position = new Vector3D(X, Y, Z);
    } else {
    store.time = System.DateTime.Now;
    store.position = new Vector3D(0);
    }
    return store;
    }

    public string ToString() {
    // Get coordinates (VRageMath.Vector3D, so pull it in the ugly way)
    double x = Math.Round(this.position.GetDim(0), 4);
    double y = Math.Round(this.position.GetDim(1), 4);
    double z = Math.Round(this.position.GetDim(2), 4);

    // Time|X,Y,Z
    string newStorage = this.time.ToBinary().ToString() + "|" +
    x.ToString() + "," + y.ToString() + "," + z.ToString();
    return newStorage;
    }
    }

    IMyTerminalBlock origin;
    double delta = 0.0;
    double speed = 0.0;

    public SpeedCalculator(IMyTerminalBlock origin) {
    this.origin = origin;
    }

    public double getDeltaSeconds() {
    return this.delta;
    }

    public double getSpeed() {
    return this.speed;
    }

    public void calculate(ref Store store) {
    // Get times
    DateTime TimeNow = System.DateTime.Now;
    DateTime OldTime = store.time;

    // We have 's' for m/s.
    this.delta = (TimeNow - OldTime).TotalSeconds;

    // Caluculate distance
    Vector3D currentVector = this.origin.GetPosition();
    double Distance = Vector3D.Distance(currentVector, store.position);

    // If the base coordinates
    if (Distance != 0 && this.delta != 0)
    {
    // We have our distance
    double Speed = Distance / this.delta;
    this.speed = Speed;
    } else {
    this.speed = 0.0;
    }

    // Update the store with current coordinates
    store.time = TimeNow;
    store.position = currentVector;
    }
    }
    17 changes: 17 additions & 0 deletions SpeedCalculator_usage.cs
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    @@ -0,0 +1,17 @@
    void Main(string arg) {
    // Instantiate a speed calculator using the programming block for measurments
    // You can use any block, something near the center of the ship so the rotation
    // doesn't contribute to the overall speed.
    SpeedCalculator sc = new SpeedCalculator((IMyTerminalBlock)Me);

    // Storage malarky: Required because we need to store previous 3D Vector and time
    // to calculate distance traveled and speed
    SpeedCalculator.Store store = SpeedCalculator.Store.fromString(Storage);
    sc.calculate(ref store);
    Storage = store.ToString();

    // Speed in Meters Per Second
    double speed = sc.getSpeed();
    // Seconds passed since last calculation
    double delta = sc.getDeltaSeconds();
    }
  7. YarekTyshchenko revised this gist Dec 21, 2015. 2 changed files with 30 additions and 0 deletions.
    24 changes: 24 additions & 0 deletions LCD.cs
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    @@ -0,0 +1,24 @@
    public class LCD {
    IMyTextPanel lcd;

    // Grid terminal system is needed here so the search happens in the right grid
    public LCD(IMyGridTerminalSystem gts, string panelName) {
    this.lcd = gts.GetBlockWithName(panelName) as IMyTextPanel;
    this.lcd.ShowPublicTextOnScreen();
    }

    public LCD writeText(string text) {
    this.lcd.WritePublicText(text, true);
    return this;
    }

    public LCD writeLine(string line) {
    this.writeText(line+"\n");
    return this;
    }

    public LCD clear() {
    this.lcd.WritePublicText("", false);
    return this;
    }
    }
    6 changes: 6 additions & 0 deletions LCD_usage.cs
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    @@ -0,0 +1,6 @@
    void Main(string arg) {
    // Second parameter is the name of the panel to search for
    LCD lcd = new LCD(GridTerminalSystem, "LCD Panel").clear();
    lcd.writeLine("Speed: "+10);
    lcd.writeLine("Seconds Delta: "+2);
    }
  8. YarekTyshchenko revised this gist Dec 21, 2015. 2 changed files with 5 additions and 3 deletions.
    2 changes: 1 addition & 1 deletion Dispatch.cs
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    Original file line number Diff line number Diff line change
    @@ -6,7 +6,7 @@ public void addHandler(string method, Action action) {
    }

    public void dispatch(string argument) {
    if (! methods.Contains(argument)) {
    if (! methods.ContainsKey(argument)) {
    log("Argument '"+argument+"' doesn't exist in collection");
    return;
    }
    6 changes: 4 additions & 2 deletions Dispatch_usage.cs
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    Original file line number Diff line number Diff line change
    @@ -1,12 +1,14 @@
    void Main(string arg) {
    Dispatch d = new Dispatch();
    // Optional: Define a log delegate for convenience
    d.setLogger(delegate(string s) {
    Echo("Log: "+s);
    });

    d.addHandler("foo", delegate() {
    Echo("Custom Foo Action");
    Echo("Custom Foo action");
    });
    d.addHandler("", delegate() {
    Echo("Default action");
    });
    d.dispatch(arg);
    }
  9. YarekTyshchenko revised this gist Dec 21, 2015. 1 changed file with 1 addition and 0 deletions.
    1 change: 1 addition & 0 deletions Dispatch_usage.cs
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    Original file line number Diff line number Diff line change
    @@ -1,5 +1,6 @@
    void Main(string arg) {
    Dispatch d = new Dispatch();
    // Optional: Define a log delegate for convenience
    d.setLogger(delegate(string s) {
    Echo("Log: "+s);
    });
  10. YarekTyshchenko created this gist Dec 21, 2015.
    20 changes: 20 additions & 0 deletions Dispatch.cs
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    @@ -0,0 +1,20 @@
    class Dispatch {
    Action<string> log = delegate(string s) {};
    Dictionary<string, Action> methods = new Dictionary<string, Action>();
    public void addHandler(string method, Action action) {
    methods.Add(method, action);
    }

    public void dispatch(string argument) {
    if (! methods.Contains(argument)) {
    log("Argument '"+argument+"' doesn't exist in collection");
    return;
    }
    Action action = methods[argument];
    action();
    }

    public void setLogger(Action<string> logger) {
    this.log = logger;
    }
    }
    11 changes: 11 additions & 0 deletions Dispatch_usage.cs
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    @@ -0,0 +1,11 @@
    void Main(string arg) {
    Dispatch d = new Dispatch();
    d.setLogger(delegate(string s) {
    Echo("Log: "+s);
    });

    d.addHandler("foo", delegate() {
    Echo("Custom Foo Action");
    });
    d.dispatch(arg);
    }