Whip's Tank Skid Steering System [Revision: 9-1-15]

/*
Whip's Tank Skid Steering System - Revision 8 - 9/1/2015
/// Adapted for Dwarf-Lord Pangolin's Tanks ///
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Instructions:
Run the script with the desired arguments to execute specific movements
______________________________________________________________________

Arguments:
"advance" - Moves forward
"reverse" - Moves Backward
"left"    - Turns left
"right"   - Turns right
"stop"    - Full stop

Arguments should be entered without quotes; letter case is unimportant
______________________________________________________________________

To-do List:
* Add precise rotor speed settings

Feel free to shoot me any questions!

- Whiplash141 - http://steamcommunity.com/id/Whiplash141/
*/

string AxleLeftName = "Rotor - Left Axle";
string AxleRightName = "Rotor - Right Axle";

float VelocityLeft;
float VelocityRight;
float VelocityAverage;

List<IMyTerminalBlock> AxleLeft = new List<IMyTerminalBlock>();
List<IMyTerminalBlock> AxleRight = new List<IMyTerminalBlock>();
List<IMyTerminalBlock> AllRotors = new List<IMyTerminalBlock>();

void Main (string argument)
{
    GridTerminalSystem.GetBlocksOfType<IMyMotorStator>(AllRotors);
    GridTerminalSystem.SearchBlocksOfName(AxleLeftName,AxleLeft);
    GridTerminalSystem.SearchBlocksOfName(AxleRightName,AxleRight);

    for(int i = 0 ; i < AllRotors.Count ; i++)
    {
        if(AllRotors[i].CustomName.Contains(AxleLeftName))
        {
            AxleLeft.Add(AllRotors[i] as IMyMotorStator);
        }
        else if(AllRotors[i].CustomName.Contains(AxleRightName))
        {
            AxleRight.Add(AllRotors[i] as IMyMotorStator);
        }
    }

    switch(argument.ToLower())
    {
        case "right":
            Echo("Turning Right");
            TurnRight();
            break;

        case "left":
            Echo("Turning Left");
            TurnLeft();
            break;

        case "advance":
            Echo("Advancing");
            Advance();
            break;

        case "reverse":
            Echo("Reversing");
            Reverse();
            break;
        case "stop":
            Echo("Full Stop");
            FullStop();
            break;

        case "default":
            Echo("Idle");
            break;

    }
}

void TurnRight()
{
    for(int i = 0 ; i < AxleRight.Count ; i++)
    {
        var CurrentRight = AxleRight[i] as IMyMotorStator;
        CurrentRight.ApplyAction("DecreaseVelocity");
    }

    for(int i = 0 ; i < AxleLeft.Count ; i++)
    {
        var CurrentLeft = AxleLeft[i] as IMyMotorStator;
        CurrentLeft.ApplyAction("DecreaseVelocity");
    }
}

void TurnLeft()
{
    for(int i = 0 ; i < AxleRight.Count ; i++)
    {
        var CurrentRight = AxleRight[i] as IMyMotorStator;
        CurrentRight.ApplyAction("IncreaseVelocity");
    }

    for(int i = 0 ; i < AxleLeft.Count ; i++)
    {
        var CurrentLeft = AxleLeft[i] as IMyMotorStator;
        CurrentLeft.ApplyAction("IncreaseVelocity");
    }
}

void Advance()
{

    for(int i = 0 ; i < AxleRight.Count ; i++)
    {
        var CurrentRight = AxleRight[i] as IMyMotorStator;
        CurrentRight.ApplyAction("IncreaseVelocity");
    }

    for(int i = 0 ; i < AxleLeft.Count ; i++)
    {
        var CurrentLeft = AxleLeft[i] as IMyMotorStator;
        CurrentLeft.ApplyAction("DecreaseVelocity");
    }

    if(AxleRight[0] != null && AxleLeft[0] != null)
    {
        var ThisLeft = AxleLeft[0] as IMyMotorStator;
        var ThisRight = AxleRight[0] as IMyMotorStator;
        VelocityLeft = Math.Abs(ThisLeft.Velocity); Echo("Left: " + VelocityLeft);
        VelocityRight = Math.Abs(ThisRight.Velocity); Echo("Right: " + VelocityRight);

        if(VelocityLeft != VelocityRight)
        {
            VelocityAverage = Convert.ToInt32(VelocityLeft / 2 + VelocityRight / 2);
            VelocityAverage = VelocityAverage - VelocityAverage % 12; Echo("Avg: " + VelocityAverage);

            for(int i = 0 ; i < AxleRight.Count ; i++)
            {
                var CurrentRight = AxleRight[i] as IMyMotorStator;
                CurrentRight.SetValue<float>("Velocity",VelocityAverage);
            }

            for(int i = 0 ; i < AxleLeft.Count ; i++)
            {
                var CurrentLeft = AxleLeft[i] as IMyMotorStator;
                CurrentLeft.SetValue<float>("Velocity",-1 * VelocityAverage);
            }
        }
    }
}

void Reverse()
{
    for(int i = 0 ; i < AxleRight.Count ; i++)
    {
        var CurrentRight = AxleRight[i] as IMyMotorStator;
        CurrentRight.ApplyAction("DecreaseVelocity");
    }

    for(int i = 0 ; i < AxleLeft.Count ; i++)
    {
        var CurrentLeft = AxleLeft[i] as IMyMotorStator;
        CurrentLeft.ApplyAction("IncreaseVelocity");
    }

    if(AxleRight[0] != null && AxleLeft[0] != null)
    {
        var ThisLeft = AxleLeft[0] as IMyMotorStator;
        var ThisRight = AxleRight[0] as IMyMotorStator;
        VelocityLeft = Math.Abs(ThisLeft.Velocity); Echo("Left: " + VelocityLeft);
        VelocityRight = Math.Abs(ThisRight.Velocity); Echo("Right: " + VelocityRight);

        if(VelocityLeft != VelocityRight)
        {
            VelocityAverage = Convert.ToInt32(VelocityLeft / 2 + VelocityRight / 2);
            VelocityAverage = VelocityAverage - VelocityAverage % 12; Echo("Avg: " + VelocityAverage);

            for(int i = 0 ; i < AxleRight.Count ; i++)
            {
                var CurrentRight = AxleRight[i] as IMyMotorStator;
                CurrentRight.SetValue<float>("Velocity",-1 * VelocityAverage);
            }

            for(int i = 0 ; i < AxleLeft.Count ; i++)
            {
                var CurrentLeft = AxleLeft[i] as IMyMotorStator;
                CurrentLeft.SetValue<float>("Velocity",VelocityAverage);
            }
        }
    }
}

void FullStop()
{
    for(int i = 0 ; i < AxleRight.Count ; i++)
    {
        var CurrentRight = AxleRight[i] as IMyMotorStator;
        CurrentRight.ApplyAction("ResetVelocity");
    }

    for(int i = 0 ; i < AxleLeft.Count ; i++)
    {
        var CurrentLeft = AxleLeft[i] as IMyMotorStator;
        CurrentLeft.ApplyAction("ResetVelocity");
    }
}