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Get full automation to orbit functioning.

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This commit is contained in:
Anna Rose Wiggins 2021-07-20 02:38:29 -04:00
parent 2cceb5c0c1
commit 45cd517a2a
6 changed files with 55 additions and 31 deletions
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38
execnode.ks
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@ -1,19 +1,35 @@
runpathonce("lib/navigation").
runpathonce("lib/throttle").
runoncepath("lib/navigation").
runoncepath("lib/throttle").
SAS off.
local n is SHIP:NEXTNODE.
local t is BurnTime(n:MAG)/2.
local t is BurnTime(NEXTNODE:DELTAV:MAG)/2.
lock STEERING to n:DELTAV.
wait until VectorAngle(SHIP:VELOCITY, STEERINGMANAGER:TARGET) <= 0.1.
print "Adjusting heading".
lock STEERING to NEXTNODE:DELTAV.
wait until VectorAngle(SHIP:FACING:FOREVECTOR, STEERINGMANAGER:TARGET:FOREVECTOR) <= 0.1.
print "Warping to node".
KUNIVERSE:WARP:WarpTo(n:TIME - t - 5).
wait until n:ETA <= t.
KUNIVERSE:TIMEWARP:WarpTo(NEXTNODE:TIME - t - 5).
wait until NEXTNODE:ETA <= t.
// todo: pid loop here or nah? overshoot would be tricky to deal with...
print "Executing burn".
local throt is 1.0.
lock THROTTLE to throt.
local dvLast is NEXTNODE:DELTAV:MAG.
// Execute the burn, throttling down by half every time we're
// consuming more than 25% of our dV in one update.
until NEXTNODE:DELTAV:MAG <= 0.25 {
local dvRem is NEXTNODE:DELTAV:MAG.
if dvRem < dvLast * 0.75 {
set throt to throt / 2.
}
set dvLast to dvRem.
wait 0.001.
}
lock THROTTLE to 1.0.
wait until n:DELTAV:MAG <= 0.1. // todo: pid loop here or no?
unlock THROTTLE.
unlock STEERING.
print "Node Executed. Have a nice day."
SAS on.
print "Node Executed. Have a nice day".