resumedrive.txt

///////////////
// ResumeDrive
// ------------
// a copy of BeginDrive but uses local data already
// in place from a previous drive that was stopped
/////////////////////////////////////////////////////

// environment variables. Don't touch!
set wheelsUp to false.                        // are we off the ground?
set currentSlopeType to 0.                    // 0 = level, 1 = upslope, 2 = downslope
set currentSlopeAngle to 0.                   // the degree of up/down pitch the rover is currently experiencing
set brakesOn to false.                        // braking recently activated or not
set lastBrake to -1.                          // when to let off the brakes
set currentSpeed to 0.                        // for various drive functions, the speed used can be any of the ones defined below
set currentOverSpeed to overSpeedCruise.      // how fast we shouldn't be going, currently
set slopeAbortDelay to 0.                     // used to delay a slope abort event
set currentBrakeTime to cruiseSpeedBrakeTime. // current amount of braking time in seconds

clearscreen.
abort off.

if yesterday < time:day {
  set recentLogList:add to "<" + time:calendar + ">".
  log "<" + time:calendar + ">" to RoverLog.
}.

set recentLogList:add to "<" + time:clock + "> program using existing state".
log "<" + time:clock + "> program using existing state" to RoverLog.

// time to head for the waypoint
set target to waypointName + currentWaypoint.

set recentLogList:add to "<" + time:clock + "> target " + waypointName + currentWaypoint + " selected".
log "<" + time:clock + "> target " + waypointName + currentWaypoint + " selected" to RoverLog.

// let the program gather data on the target we just acquizired
wait 0.001.

set recentLogList:add to "<" + time:clock + "> driving " + round(target:distance, 2) + "m to " + waypointName + currentWaypoint.
log "<" + time:clock + "> driving " + round(target:distance, 2) + "m to " + waypointName + currentWaypoint to RoverLog.

brakes off.
lock wheelsteering to target.
set currentSpeed to cruiseSpeed.
lock wheelthrottle to currentspeed.

// only need to print the output screen once, in full, then we just change values
print "=================================================".
print "|---------------Rover Variables-----------------|".
print "|                                               |".
print "| currentBrakeTime: 00.0    currentSpeed: 00.00 |".
print "| currentOverspeed: 00.0    currentSlopeType: 0 |".
print "| currentWaypoint: 0/0      brakeUseCount: 0    |".
print "| currentSlopeAngle: -00.00 abortDrive: False   |".
print "|                                               |".
print "|------------Environment Information------------|".
print "|                                               |".
print "| Height over ground: 0.00m                     |".
print "| Surface speed: 0.00m/s                        |".
print "| Distance remaining to target: 0.00m           |".
print "|                          ETA: 0h 0m           |".
print "|                                               |".
print "|--------------Recent Log Entries---------------|".
print "|                                               |".
print "|                                               |".
print "|                                               |".
print "|                                               |".
print "|                                               |".
print "|                                               |".
print "|                                               |".
print "|                                               |".
print "|                                               |".
print "|                                               |".
print "|                                               |".
print "|                                               |".
print "|                                               |".
print "|                                               |".
print "|                                               |".
print "|                                               |".
print "|                                               |".
print "|===============================================|".
print "Rover Driver v1.0                  (c)Drew Kerman".

// only need to print the log once
set index to 0.
until index = maxLogEntries or index = recentLogList:length {
  print recentLogList[index] at (2, logLineStart + index).
  set index to index + 1.
}.

// let's not immediately hop into monitoring mode but give the slope detection time to smooth out
set rollOut to time:seconds.
until time:seconds - rollOut > driveMonitorWaitTime {
  set upvec to up:vector.
  set velvec to ship:velocity:surface:normalized.
  set dp to vdot(velvec,upvec).
  set currentSlopeAngle to 90 - arccos(dp).

  wait 0.001.
  print "     " at (20,3).
  print currentBrakeTime at (20,3).
  print "      " at (42,3).
  print round(currentSpeed, 2) at (42,3).
  print "     " at (20,4).
  print currentOverSpeed at (20,4).
  wait 0.001.
  print currentSlopeType at (46,4).
  print currentWaypoint + "/" + numWaypoints at (19,5).
  print brakeUseCount at (43,5).
  print "      " at (21,6).
  print round(currentSlopeAngle, 2) at (21,6).
  print "      " at (22,10).
  print round(alt:radar - groundHeight, 2) + "m" at (22,10).
  wait 0.001.
  print "        " at (17,11).
  print round(surfacespeed, 2) + "m/s" at (17,11).
  print "         " at (32,12).
  print round(target:distance, 2) + "m" at (32,12).
}.

if autoWarp = true { set warp to 1. }.
run MonitorDrive.