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3D Aim and Follow Dediblade (Tiltrotor version) PID by /r/wrigh516 2/9/2020 --\r\n-- MUST PLACE TILTROTOR SPINNERS FACING UPWARDS TO WORK --\n-- No need for any control AI cards, will hover and aim at mainframe target --\r\n-- Change Basic Settings for altitude and target distance hold --\r\n\n-- Basic Settings --\n\naimAltitude = 400\naimDistance = 400\n\n-- Initializing Variables --\n\naimPitch = 0\naimRoll = 0\naimYaw = 0\ndistanceError = 0\n\nSpinners = {}\nSpeed = {}\nSpeed.Integral = 0\nSpeed.Error = 0\nAltitude = {}\nAltitude.Integral = 0\nAltitude.Error = 0\nRoll = {}\nRoll.Integral = 0\nRoll.Error = 0\nPitch = {}\nPitch.Integral = 0\nPitch.Error = 0\nYaw = {}\nYaw.Integral = 0\nYaw.Error = 0\n\n-- Stability Settings --\n\nSpeed.P = .2\nSpeed.I = .5\nSpeed.Time = 100\nSpeed.D = 20\nAltitude.P = 1\nAltitude.I = 2\nAltitude.Time = 100\nAltitude.D = 80\nRoll.P = .5\nRoll.I = 1\nRoll.Time = 100\nRoll.D = 30\nPitch.P = .5\nPitch.I = 1\nPitch.Time = 100\nPitch.D = 30\nYaw.P = .5\nYaw.I = 1\nYaw.Time = 60\nYaw.D = 50\n\n\n\nfunction Update(I)\n   -- Calculate Spinner Indexes and Positions --\n   if (IsSpinnerUpdateRequired(I)) then\n      SetSpinnersPositions(I)\n   end\n\n   -- Control --\n   if (I:GetNumberOfTargets(0) == 0) then\n      SetIdleControl(I)\n   else\n      SetCombatControl(I)\n   end\n\n   -- Set Spinner Angles and Speeds --\n   SetSpinners(I)\n\nend\n\n\n\n-- Internal Functions --\n\nfunction IsSpinnerUpdateRequired(I)\r\n   if (I:GetSpinnerCount() > 1) then\r\n      return I:GetSpinnerCount() - 1 ~= table.getn(Spinners)\r\n   else\r\n      return true\r\n   end\r\nend\n\n\n\nfunction SetSpinnersPositions(I)\r\n   Spinners = {}\r\n   for s = 0, I:GetSpinnerCount() - 1 do\r\n      local R = I:GetSpinnerInfo(s).LocalRotation\r\n      Spinners[s] = {}\r\n      Spinners[s].forward = IsForward(I, I:GetSpinnerInfo(s).Position)\r\n      Spinners[s].starboard = IsStarboard(I, I:GetSpinnerInfo(s).Position)\r\n      Spinners[s].left = (R.w == R.z and R.x == -R.y)\r\n      Spinners[s].right = (R.w == -R.z and R.x == R.y)\r\n      Spinners[s].pushing = (R.w == -.5 and R.x == .5 and R.y == -.5 and R.z == .5) or (R.w == -.5 and R.x == .5 and R.y == .5 and R.z == -.5) or (R.w == 0 and R.x == 0 and R.y > .70709 and R.y < .70711 and R.z < -.70709 and R.z > -.70711) or (R.w > .70709 and R.w < .70711 and R.x < -.70709 and R.x > -.70711 and R.y == 0 and R.z == 0)\r\n      Spinners[s].pulling = (R.w == .5 and R.x == .5 and R.y == .5 and R.z == .5) or (R.w == .5 and R.x == .5 and R.y == -.5 and R.z == -.5) or (R.w > .70709 and R.w < .70711 and R.x > .70709 and R.x < .70711 and R.y == 0 and R.z == 0) or (R.w == 0 and R.x == 0 and R.y > .70709 and R.y < .70711 and R.z > .70709 and R.z < .70711)\r\n      I:SetSpinnerPowerDrive(s,10)\r\n   end\r\nend\n\n\n\nfunction IsForward(I, Position)\n   U = I:GetConstructForwardVector()\n   V = GetLocalPosition(I, Position)\n   return U.x*V.x + U.y*V.y + U.z*V.z > 0\nend\n\n\n\nfunction IsStarboard(I, Position)\n   U = I:GetConstructRightVector()\n   V = GetLocalPosition(I, Position)\n   return U.x*V.x + U.y*V.y + U.z*V.z > 0\nend\n\n\n\nfunction GetLocalPosition(I, Position)\n   local LocalPosition = {}\n   local CoM = I:GetConstructCenterOfMass()\n   LocalPosition.x = Position.x - CoM.x\n   LocalPosition.y = Position.y - CoM.y\n   LocalPosition.z = Position.z - CoM.z\n   return LocalPosition\nend\n\n\n\nfunction SetIdleControl(I)\n   -- Altitude --\n   altitude = PID(I, Altitude, aimAltitude - I:GetConstructPosition().y)\n   if (altitude > 25) then\r\n      altitude = 25\r\n   elseif (altitude < -25) then\r\n      altitude = -25\r\n   end\n\n   -- Forwards Velocity --\n   speed = PID(I, Speed, -GetForwardsVelocity(I)*50)\n\n   -- Roll --\n   roll = PID(I, Roll, GetError(I:GetConstructRoll() - GetSidewaysVelocity(I)/2))\n\n   -- Pitch --\n   aimPitch = 0\n   pitch = PID(I, Pitch, GetError(I:GetConstructPitch()))\n\n   -- Yaw --\n   yaw = PID(I, Yaw, -GetError(I:GetAngularVelocity().y))\nend\n\n\n\n\nfunction SetCombatControl(I)\n   local controlFactor = 1 - math.abs(I:GetTargetPositionInfo(0,0).Azimuth)/90 - math.abs(aimAltitude - I:GetConstructPosition().y)/aimAltitude\n   if (controlFactor < 0) then\n      controlFactor = 0\n   end\n\n   -- Altitude --\n   altitude = PID(I, Altitude, aimAltitude - I:GetConstructPosition().y)\n   if (altitude > 25) then\r\n      altitude = 25\r\n   elseif (altitude < -25) then\r\n      altitude = -25\r\n   end\n\n   -- Forwards Velocity --\n   speed = PID(I, Speed, XZDistance(I:GetConstructPosition(), I:GetTargetPositionInfo(0,0).Position) - aimDistance)\n   if (speed > 70) then\r\n      speed = 70\n   elseif (speed < -70) then\r\n      speed = -70\n   end\n   speed = speed*controlFactor\n\n   -- Roll --\n   roll = PID(I, Roll, GetError(I:GetConstructRoll() - GetSidewaysVelocity(I)/2) - aimRoll)\n\n   -- Pitch --\n   aimPitch = Latitude(I:GetConstructPosition(), I:GetTargetPositionInfo(0,0).Position)\n   aimPitch = aimPitch*controlFactor\n   pitch = PID(I, Pitch, GetError(I:GetConstructPitch()) + aimPitch)\n\n   -- Yaw --\n   yaw = PID(I, Yaw, -GetError(I:GetTargetPositionInfo(0,0).Azimuth))\nend\n\n\n\nfunction PID(I, X, error)\n   local lastError = X.Error\n   X.Error = error\n\n   -- Apply Proportional --\n   local correction = X.Error*X.P\n\n   -- Apply Integral --\n   X.Integral = X.Integral*(X.Time - 1)/X.Time + correction*(1/X.Time)\n   correction = correction + X.Integral*X.I\n\n   -- Apply Derivative --\n   correction = correction + (X.Error - lastError)*X.D\n\n   return correction\nend\n\n\n\nfunction GetError(angle)\n   if (angle > 180) then\n      return -(360 - angle)\n   else\n      return angle\n   end\nend\n\n\n\nfunction GetForwardsVelocity(I)\n   U = I:GetConstructForwardVector()\n   V = I:GetVelocityVector()\n   return U.x*V.x + U.y*V.y + U.z*V.z\nend\n\n\n\n\nfunction GetSidewaysVelocity(I)\n   U = I:GetConstructRightVector()\n   V = I:GetVelocityVector()\n   return U.x*V.x + U.y*V.y + U.z*V.z\nend\n\n\n\nfunction SetSpinners(I)\r\n   for s = 0, I:GetSpinnerCount() - 1 do\r\n      if (Spinners[s].left) then\r\n         I:SetSpinnerRotationAngle(s, -ServoAngle(Spinners[s]))\r\n      end\n      \rif (Spinners[s].right) then\n         I:SetSpinnerRotationAngle(s, ServoAngle(Spinners[s]))\r\n      end\n      if (Spinners[s].pulling) then\n         I:SetSpinnerContinuousSpeed(s, BladeSpeed(Spinners[s]))\n      end\n      if (Spinners[s].pushing) then\n         I:SetSpinnerContinuousSpeed(s, -BladeSpeed(Spinners[s]))\n      end\n   end\r\nend\n\n\n\nfunction ServoAngle(Spinner)\n   local angle = 0;\n   if (Spinner.starboard) then\n      angle = speed + yaw + aimPitch\n   else\n      angle = speed - yaw + aimPitch\n   end\n   if (angle > 85) then\n      angle = 85\n   elseif (angle < -85) then\n      angle = -85\n   end\n   return angle\nend\n\n\n\nfunction BladeSpeed(Spinner)\r\n   local speed = 0\r\n   if (Spinner.forward) then\r\n      speed = pitch\r\n   else\r\n      speed = -pitch\r\n   end\r\n   if (Spinner.starboard) then\r\n      speed = speed - roll\r\n   else\r\n      speed = speed + roll\r\n   end\r\n   return speed + altitude\nend\n\n\n\nfunction TrueDistance(A, B)\n   return math.sqrt((A.x - B.x)^2 + (A.y - B.y)^2 + (A.z - B.z)^2)\nend\n\n\n\nfunction XZDistance(A, B)\n   return math.sqrt((A.x - B.x)^2 + (A.z - B.z)^2)\nend\n\n\n\nfunction Latitude(A, B)\n   return -math.atan((A.y - B.y)/(math.sqrt((A.x - B.x)^2 + (A.z - B.z)^2)))*360/(math.pi*2)\nend\n\n"],"BlockStringDataIds":[28],"GameVersion":"2.5.3","PersistentSubObjectIndex":12,"PersistentBlockIndex":150,"AuthorDetails":{"Valid":false,"ForeignBlocks":0,"CreatorId":"00000000-0000-0000-0000-000000000000","ObjectId":"00000000-0000-0000-0000-000000000000","CreatorReadableName":"","HashV1":"b84624206a654c82d83dd439ab9c5677"},"BlockCount":1157}}