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templeofshadow
2026-06-25 04:37:28 -05:00
parent 17271eaf50
commit 9597d4ae8a
1 changed files with 116 additions and 120 deletions
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236
main.lua
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@@ -60,70 +60,14 @@ Config.Monitors.InstrumentPanelMonitor = nil
Config.Monitors.AutopilotControlMonitor = nil
-- Autopilot
Config.Autopilot.AutopilotEngaged = false -- Is auto-yaw enabled?
Config.Autopilot.AutoForeAft = false -- Is auto-thrust enabled?
Config.Autopilot.AutopilotDesiredSpeed = 0 -- Signed thrust value to compare against VelocityVectors["x"]
Config.Autopilot.AutopilotDesiredHeading = 0 -- If NavTableHasTarget == true this gets ignored in favor of TargetRelativeAngle
-- Gimbal Sensor Values
Angles = {
0, -- xAngle: rotation about body-X (pitch); 0 is aligned with world-up
0 -- zAngle: rotation about body-Z (roll); 0 is aligned with world-up
}
AngularRates = {
0, -- wx: pitch rate about body-X
0, -- wy: yaw rate about body-Y
0 -- wz: roll rate about body-Z
}
LinearAcceleration = {
0, -- Acceleration along body-X
0, -- Acceleration along body-Y
0 -- Acceleration along body-Z
Config.Autopilot = {
AutopilotEngaged = false,
AutoForeAft = false,
AutopilotDesiredSpeed = nil,
AutopilotDesiredHeading = nil
}
-- Nav Table Values
Heading = 0
-- Nav Table Values (targets)
NavTableHasTarget = false
BearingToTarget = 0
TargetClosureRate = 0
TargetVerticalOffset = 0
TargetRelativeAngle = 0
-- Altitude Sensor Values
Altitude = 0
AirPressure = 0
VerticalSpeed = 0
-- Velocity Sensors
VelocityVectors = {
x = 0, -- +X is east (port), +Y is up, +Z is south (aft)
y = 0, -- -X is west (star), -Y is down, -Z is north (fore)
z = 0
}
-- Throttle Inputs
Throttles = {
ForeThrottle = {
name = "",
side = "",
input = 0
},
DownThrottle = {
name = "",
side = "",
input = 0
},
AftThrottle = {
name = "",
side = "",
input = 0
}
}
local function getRelayStates()
local states = {}
function ThrottleInit()
local sides = {
"top",
"bottom",
@@ -143,42 +87,55 @@ local function getRelayStates()
end
end
return states
end
local function getRelayStates()
local states = {}
local sides = {
"top",
"bottom",
"left",
"right",
"front",
"back"
}
local function identifyRelay(label)
print("\nIdentifying "..label.." throttle")
local names = peripheral.getNames()
for _, name in ipairs(names) do
if peripheral.getType(name) == "redstone_relay" then
local wrapper = peripheral.wrap(name)
for _, side in ipairs(sides) do
states[name] = states[name] or {}
states[name][side] = wrapper.getAnalogInput(side)
end
end
end
return states
end
print("\nIdentifying fore throttle")
print("\nPlease change the input signal for the throttle")
local initialStates = getRelayStates
local initialStates = getRelayStates()
while true do
os.pullEvent("redstone_relay")
local currentStates = getRelayStates
local currentStates = getRelayStates()
for pname, currentState in pairs(currentStates) do
local initialState = initialStates[pname]
for k, v in pairs(currentState) do
if initialState[k] ~= v then
return {
name = pname,
side = k
}
Throttles.ForeThrottle.name = pname
Throttles.ForeThrottle.side = k
return
end
end
end
end
end
function ThrottleInit()
Throttles.ForeThrottle = identifyRelay("fore")
Throttles.DownThrottle = identifyRelay("down")
Throttles.AftThrottle = identifyRelay("aft")
end
function PropellerInit()
local transmissions = {}
local propellers = {}
@@ -215,11 +172,15 @@ function PropellerInit()
}
end
if Thrusters[peripheral.getName(pv)] ~= nil then
if Thrusters[peripheral.getName(pv)].type == nil then Thrusters[peripheral.getName(pv)].type = "rotator" end
if Thrusters[peripheral.getName(pv)].type == nil then
Thrusters[peripheral.getName(pv)].type = "rotator"
end
Thrusters[peripheral.getName(pv)].thruster = pv
Thrusters[peripheral.getName(pv)].transmission = tv
if Thrusters[peripheral.getName(pv)].affectVectors == nil then Thrusters[peripheral.getName(pv)].affectVectors = nil end
Thrusters[peripheral.getName(pv)].power = (tv.getSingnal())/15
if Thrusters[peripheral.getName(pv)].affectVectors == nil then
Thrusters[peripheral.getName(pv)].affectVectors = {}
end
Thrusters[peripheral.getName(pv)].power = (tv.getSignal())/15
end
end
end
@@ -227,7 +188,6 @@ function PropellerInit()
end
function ThrusterInit()
local thrusters = {}
for _, v in ipairs(ThrusterTypes) do
@@ -257,10 +217,14 @@ function ThrusterInit()
}
end
if Thrusters[peripheral.getName(tv)] ~= nil then
if Thrusters[peripheral.getName(tv)].type == nil then Thrusters[peripheral.getName(tv)].type = "thruster" end
if Thrusters[peripheral.getName(tv)].type == nil then
Thrusters[peripheral.getName(tv)].type = "thruster"
end
Thrusters[peripheral.getName(tv)].thruster = tv
Thrusters[peripheral.getName(tv)].transmission = nil
if Thrusters[peripheral.getName(tv)].affectVectors == nil then Thrusters[peripheral.getName(tv)].affectVectors = nil end
if Thrusters[peripheral.getName(tv)].affectVectors == nil then
Thrusters[peripheral.getName(tv)].affectVectors = {}
end
Thrusters[peripheral.getName(tv)].power = tv.getPower()
end
end
@@ -272,7 +236,6 @@ function Update()
end
local function checkIfThrusterIsIndexed()
local thrusters = {}
local unindexedThrusters = {}
@@ -335,11 +298,11 @@ local function partiallyUpdateThrusters(thrusterList)
local thisThruster = {
thruster = tv,
transmission = nil,
type = "rotator"
type = "rotator",
affectVectors = {
yaw = nil,
roll = nil,
pitch = nil
pitch = nil,
lateral = nil
},
power = tv.getPower()
@@ -361,12 +324,18 @@ local function partiallyUpdateThrusters(thrusterList)
end
function UpdateStabilization()
-- This function needs full implementation according to requirements in docs.md
-- It should adjust thrust based on sensor data to achieve target angles/velocities
-- For now, implement placeholder functionality that calls the existing thrust methods
print("UpdateStabilization called")
end
function PollThrottle()
for _, v in ipairs(Throttles) do
v.input = peripheral.call(v.name, "getAnalogInput("..v.side..")")
for _, v in pairs(Throttles) do
if v.name and v.side then
v.input = peripheral.call(v.name, "getAnalogInput("..v.side..")")
end
end
end
@@ -393,24 +362,35 @@ function PollAltitude()
local altSensor = peripheral.find("altitude_sensor") -- enforce one alt sensor
-- Altitude Sensor
Altitude = altSensor.getHeight()
AirPressure = altSensor.getAirPressure()
VerticalSpeed = altSensor.getVerticalSpeed()
if altSensor then
Altitude = altSensor.getHeight()
AirPressure = altSensor.getAirPressure()
VerticalSpeed = altSensor.getVerticalSpeed()
end
end
function PollNavTable()
local navTable = peripheral.find("navigation_table") -- enforce one nav table
-- Navigation Table
Heading = navTable.getHeading()
NavTableHasTarget = navTable.hasTarget()
if NavTableHasTarget then
BearingToTarget = navTable.getBearing()
TargetClosureRate = navTable.getClosureRate()
TargetVerticalOffset = navTable.getVerticalOffsetToTarget()
TargetRelativeAngle = navTable.getRelativeAngle()
end
if not NavTableHasTarget then
if navTable then
Heading = navTable.getHeading()
NavTableHasTarget = navTable.hasTarget()
if NavTableHasTarget then
BearingToTarget = navTable.getBearing()
TargetClosureRate = navTable.getClosureRate()
TargetVerticalOffset = navTable.getVerticalOffsetToTarget()
TargetRelativeAngle = navTable.getRelativeAngle()
end
if not NavTableHasTarget then
BearingToTarget = 0
TargetClosureRate = 0
TargetVerticalOffset = 0
TargetRelativeAngle = 0
end
else
Heading = 0
NavTableHasTarget = false
BearingToTarget = 0
TargetClosureRate = 0
TargetVerticalOffset = 0
@@ -422,9 +402,15 @@ function PollGimbal()
local gimbalSensor = peripheral.find("gimbal_sensor") -- enforce one gimbal sensor
-- Gimbal Sensor
Angles = gimbalSensor.getAngles()
AngularRates = gimbalSensor.getAngularRates()
LinearAcceleration = gimbalSensor.getLinearAcceleration()
if gimbalSensor then
Angles = gimbalSensor.getAngles()
AngularRates = gimbalSensor.getAngularRates()
LinearAcceleration = gimbalSensor.getLinearAcceleration()
else
Angles = {0, 0}
AngularRates = {0, 0, 0}
LinearAcceleration = {0, 0, 0}
end
end
function Sigmoid(x)
@@ -480,12 +466,12 @@ function UpdateGlobalThrust()
-- lateral thrust
local desiredLateralThrustVectors = {}
for f, v in ipairs(VelocityVectors) do
for f, v in pairs(VelocityVectors) do
desiredLateralThrustVectors[f] = CustomSigmoid(v)
end
local thrustDirections = {}
for f, v in desiredLateralThrustVectors do
for f, v in pairs(desiredLateralThrustVectors) do
if f == "x" then
if v > 0 then table.insert(thrustDirections, { port = v }) else table.insert(thrustDirections, { star = math.abs(v) }) end
end
@@ -508,16 +494,18 @@ function UpdateGlobalThrust()
-- angular thrust
local desiredAngluarThrustVectors = {}
for f, v in ipairs(AngularRates) do
for f, v in pairs(AngularRates) do
desiredAngluarThrustVectors[f] = CustomSigmoid(v)
end
-- Need to complete this function implementation based on docs.md requirements
end
function Init()
ThrottleInit()
Thrusters = {}
local configFile = io.open(ConfigPath, "r")
local configFile = io.open(Config.ConfigPath, "r")
if configFile then
local configContent = configFile:read("*all")
local configChunk, err = load(configContent)
@@ -526,10 +514,10 @@ function Init()
else
print("Error loading config string: "..err)
end
configFile:close()
else
print("Could not open the config file")
end
configFile.close()
if Config.thrusterConfigPath ~= nil then
local thrusterConfigFile = io.open(Config.thrusterConfigPath, "r")
@@ -541,20 +529,21 @@ function Init()
else
print("Error loading thruster config string: "..err)
end
thrusterConfigFile:close()
else
print("Could not open the thruster config file")
end
thrusterConfigFile.close()
end
if Config.ThrusterConfigPath ~= nil then
local unindexedThrusters = checkIfThrusterIsIndexed()
if unindexedThrusters ~= nil then
partiallyUpdateThrusters(unindexedThrusters)
end
-- Initialize monitors or return early if they're not configured
if Config.Monitors.InstrumentPanelMonitor == nil then
print("Warning: Instrument panel monitor not configured.")
end
if Config.Monitors.AutopilotControlMonitor == nil then
print("Warning: Autopilot control monitor not configured.")
end
-- If we're here, the config loaded successfully and the initialization is done.
end
function Main()
@@ -568,5 +557,12 @@ function Main()
PollSensors()
UpdateGlobalThrust()
UpdateStabilization()
-- Add a small delay to avoid overloading the system
os.sleep(0.1)
end
end
end
-- Run the main function when the script starts
Main()