View difference between Paste ID: j6rWiAND and xSjerGzW

-// !runscript xSjerGzW
+
-// racetrack setup script: !runscript FWe0mbFH
+
 	set pp to p:parent.
-set station to vessel("Space Race").
+	if pp:typename = "dockingport" set port to pp.
-set racecourse to list("PStart","w1","w2","w3","w4","w5","w6","w7","w8", "w9", "w10","PEnd").
+	else findPort(pp).
 }
 findPort().
-for i in range(10) {
+
 core:part:controlfrom().
 port:undock().
-	set g to station:partstagged(str)[0].
+wait 0.2.
 kuniverse:forceactive(ship).
 wait 0.2.
 list engines in engs. for e in engs e:activate.
 sas off.
-set gate to ship:rootpart.
+
 wait 1.
-set gateTMax to 1.5.
+set target to "Space Race".
-set rel_v to velocity:orbit - station:velocity:orbit.
+lock rel_v to choose (velocity:orbit - target:velocity:orbit) if hastarget else v(0,0,0).
 set gateFA to v(1,0,0).
 set gateVel to v(0,0,0).
-set baseSpeed to 12.
+set baseSpeed to 0.
-set thrustMult to 1.5.
+when vessel("space race"):partsdubbedpattern("station")[0]:tag = "stationGo" then set basespeed to 8 + random()*1.
 set docking to false.
-wait until not(brakes).
+
-set lastIntersect to time:seconds.
+	set eng:deadband to 0.005.
 }
 
-set port to ship:rootpart.
+set racecourse to list("PStart","w1","w2","w3","w4","w5","w6","w7","w8","PEnd").
 set gates to list().
 set col0 to rgba(0,0,0,0).
-set th to 0. set st to facing:vector.
+for i in range(8) {
 	set i2 to i + 1.
 	set str to racecourse[i2].
 	set g to target:partstagged(str)[0].
 	gates:add(list(g, highlight(g, col0) )).
-	if pp:typename = "dockingport" {
+
-		set port to pp.
+
-	} else {
+
-		findPort(pp).
+
 
 function dock {
 	set minAng to 180.
 	for d in target:dockingports {
 		if d:nodetype = port:nodetype and d:state = "ready" and vang(-d:portfacing:vector,d:position) < minAng {
 			set gate to d.
-wait 0.
+
-set station to vessel("Space Race").
+
 		}
-port:getmodule("moduledockingnode"):setfield("docking acquire force", 0).
+
 	if docking when (gate:nodeposition-port:nodeposition):mag < 0.5 then { exit2(). }
 
-set undockTime to time:seconds.
+
-set ship:control:fore to -0.5.
+
 	lock throttle to 0. rcs off. unlock throttle. set ship:control:neutralize to true. unlock steering.
 }
-list engines in engs.
+
-for en in engs {
+
-	en:activate().
+
 		if defined tOld set tNew to time:seconds - tOld.
 		set tOld to time:seconds.
-	set eng:deadband to 0.000.
+
-    set eng:thrustlimit to 50.
+
 	}
-for m in ship:modulesnamed("ModuleLight") {
+
-	if m:hasevent("Lights on") m:doevent("Lights on").
+
 	set hl:color to col0.
 	set hl to gates[i][1].
 
     set i to i + 1.
     if i = 8 set i to 0.
     when abs(vdot(gateFA, gate:position)) < rel_v:mag/20 and vdot(rel_v:normalized, gate:position) < 0 and vxcl(gateFA,gate:position):mag < 2.6 then {
         print "passed gate " + gate:tag.
         next().
     }
 	set gateVel to rel_v.
 	set gateT to 1.
 
 	set l to gate:children[0]:getmodule("moduleColoredLensLight").
 
 	set hl:color to rgba(l:getfield("light r"),l:getfield("light g"),l:getfield("light b"),0.3).
 }
 next().
-    if i = gates:length set i to 0.
+
-    when not(docking) and abs(vdot(gateFA, gate:position)) < rel_v:mag/20 and vdot(rel_v:normalized, gate:position) > 0 and vxcl(gateFA,gate:position):mag < 2.6 then {
+rcs on.
-		print "passed gate " + gate:tag.
+set steeringmanager:maxstoppingtime to 2.
-		set gateT to gateTMax.
+set steeringmanager:pitchpid:kp to 2.
 set steeringmanager:yawpid:kp to 2.
 set steeringmanager:pitchpid:kd to 0.3.
 set steeringmanager:yawpid:kd to 0.3.
-	set lastIntersect to time:seconds.
+set tpid to pidloop(0.5,0,0.0,-1,1).
 set spid to pidloop(tpid:kp,tpid:ki,tpid:kd,-1,1).
-	//set l to gate:children[0]:getmodule("modulelighteva").
+
-	//set hl:color to rgba(l:getfield("light r"),l:getfield("light g"),l:getfield("light b"),0.3).
+
 set th to 0. set st to facing.
 lock throttle to th.
 lock steering to st.
 
 
-function go {
+
-	parameter spd is 12.
+
-	set basespeed to spd.
+	set gateFA to gate:facing:vector.
-	list targets in tars.  for t in tars if t:distance < 500 and t <> station t:connection:sendmessage(list("go", spd)).
+	set side to vxcl(gateFA, gate:position):mag.
 	if docking {
 		set fwdDist to vdot(gateFA, port:nodeposition - gate:nodeposition).
-	set ship:control:neutralize to true. rcs off. unlock throttle. unlock steering.
+		set wantPos to gate:position + gateFA *  (min(3, max(fwdDist - 1, -0.1 + 8*side)) + min(15, side / 2)).
 		set wanted_v to gateVel * gateT + (1-gateT) * (wantPos:normalized * (wantPos:mag^0.75)).
 		set ve to wanted_v - rel_v.
 
-	for d in station:dockingports {
+		set st to choose -gateFA if side < 1 and gate:position:mag < 10 else (ve + (rel_v:normalized * (-5/20))).
-		if d:nodetype = port:nodetype and d:state = "ready" and vang(-d:portfacing:vector,d:position) < minAng and station:elements[0]:parts:contains(d) {
+
 	else {
 		if vdot(gate:position, gate:facing:vector) < 0 set gateFA to -gateFA.
 		set sl to baseSpeed + max(0.001,side-5)^0.1.
-
+		set wanted_v to gateVel * gateT + (1-gateT) * ((gate:position + gateFA * max(-12, 5 - side^1.25)):normalized * sl).
 		set ve to wanted_v - rel_v.
 		set st to ve + (rel_v:normalized * (-baseSpeed/20)).
 	}
-		print "Docking".
+
-		port:getmodule("moduledockingnode"):setfield("docking acquire force", 150).
+	set gateT to max(0,gateT-0.01).
-		when (gate:nodeposition-port:nodeposition):mag < 0.5 then { exit2(). }
+    if vang(facing:vector, ve) < 60
-		on ship:parts:length {
+        set th to vdot(facing:vector,ve) * 3.
-			set TRANSFERALL("OXIDIZER", ship:elements[0], core:element):active to true.
+    else set th to 0.
-			set TRANSFERALL("LIQUIDFUEL", ship:elements[0], core:element):active to true.
+
-			set TRANSFERALL("ELECTRICCHARGE", ship:elements[0], core:element):active to true.
+	set ship:control:translation to v(-spid:update(time:seconds, vdot(facing:starvector,ve)),-tpid:update(time:seconds,vdot(facing:topvector,ve)),-fpid:update(time:seconds,vdot(facing:vector,ve))).
-			global dockTime is time:seconds. when time:seconds > dockTime + 3 then { undockandgo(). }
+    return rcs.
 }
-
+
-
+
-	}
+
 //set camDist to 5.
 set trackcam to false.
-when not(docking) and ship:resources[0]:amount / ship:resources[0]:capacity < 0.1 and time:seconds > 2 + lastIntersect and gate:position:mag > 10 then {
+//set cam to addons:camera:flightcamera.
-	dock(). return true.
+//set gPos to -facing:vector * 80.
 //set camMode to "station".
 when trackcam then {
 	set gPos to gPos * 0.97 + (rel_v:normalized * 5 + gate:position):normalized * 0.03.
-function vesselSetup {
+
-	rcs on.
+
-	set steeringmanager:maxstoppingtime to 8.
+
-	set steeringmanager:pitchpid:kp to 4.
+
-	set steeringmanager:yawpid:kp to 4.
+	else if hastarget set cam:position to target:position:normalized * -camDist + vxcl(target:position,gPos:normalized * -camDist/2).
-	set steeringmanager:pitchpid:kd to 0.3.
+
-	set steeringmanager:yawpid:kd to 0.3.
+
 
-vesselSetup().
+