├── ControlePID.py ├── DecolagemOrbital.py ├── LICENSE ├── MechPeste.py ├── Navegacao.py ├── README.md ├── RoverPST.py ├── SuicideBurn.py └── Vetor.py /ControlePID.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | # coding: "UTF-8" 3 | # Autor: Renan Torres 4 | # Data: 22/08/2018 5 | # Atualizado: 10/01/2019 6 | # Controlador Proporcional Integral Derivativo 7 | 8 | import time 9 | 10 | 11 | class ControlePID: 12 | """Controlador PID escrito em Python para uso com o mod MechPeste""" 13 | __name__ = "Controlador PID" 14 | saida_min, saida_max = -1, 1 # valores de saída padrão 15 | kp, ki, kd = 0.025, 0.001, 1 # variáveis de ajuste padrão do PID 16 | tempo_amostra = 0.02 # tempo de amostragem padrão 17 | 18 | def __init__(self): 19 | super(ControlePID, self).__init__() 20 | self.valor_entrada, self.valor_saida, self.valor_limite = 0, 0, 0 21 | self.ult_valor_entrada = 0 # variáveis de cálculo de erro 22 | self.ult_calculo = 0 # tempo do último cálculo 23 | self.termo_integral = 0 24 | self.agora = 0 25 | self.mudanca_tempo = 0 26 | self.erro = 0 27 | self.dvalor_entrada = 0 28 | 29 | def computar_pid(self): 30 | """Código principal, para computar o PID""" 31 | self.agora = float(time.time()) 32 | # variável que busca o tempo imediato 33 | self.mudanca_tempo = float(self.agora - self.ult_calculo) 34 | # variável que compara o tempo de cálculo 35 | if self.mudanca_tempo >= self.tempo_amostra: 36 | # se a mudança for maior que o tempo de amostra, o cálculo é feito. 37 | # variáveis para o cálculo do valor de saída 38 | self.erro = self.valor_limite - self.valor_entrada 39 | self.termo_integral += self.ki * self.erro 40 | if self.termo_integral > self.saida_max: 41 | self.termo_integral = self.saida_max 42 | elif self.termo_integral < self.saida_min: 43 | self.termo_integral = self.saida_min 44 | self.dvalor_entrada = (self.valor_entrada - self.ult_valor_entrada) 45 | 46 | # computando o valor de saída 47 | self.valor_saida = self.kp * self.erro + self.ki * self.termo_integral - self.kd * self.dvalor_entrada 48 | # Limitando o valor de saída 49 | if self.valor_saida > self.saida_max: 50 | self.valor_saida = self.saida_max 51 | elif self.valor_saida < self.saida_min: 52 | self.valor_saida = self.saida_min 53 | 54 | # Relembrando os valores atuais para a próxima vez 55 | self.ult_valor_entrada = self.valor_entrada 56 | self.ult_calculo = self.agora 57 | 58 | # Retornando o valor para quem chamou esse método 59 | return self.valor_saida 60 | 61 | def entrada_pid(self, valor=None): 62 | """Valor de entrada (comparação) do cálculo PID""" 63 | if valor is None: 64 | return self.valor_entrada 65 | self.valor_entrada = valor 66 | 67 | def limite_pid(self, valor=None): 68 | """Valor limite, para comparar o valor de entrada do cálculo PID""" 69 | if valor is None: 70 | return self.valor_limite 71 | self.valor_limite = valor 72 | 73 | def limitar_saida(self, minimo, maximo): 74 | """Restringe o valor de saída do cálculo PID""" 75 | if minimo > maximo: 76 | return 77 | self.saida_min = minimo 78 | self.saida_max = maximo 79 | 80 | if self.termo_integral > self.saida_max: 81 | self.termo_integral = self.saida_max 82 | elif self.termo_integral < self.saida_min: 83 | self.termo_integral = self.saida_min 84 | 85 | if self.valor_saida > self.saida_max: 86 | self.valor_saida = self.saida_max 87 | elif self.valor_saida < self.saida_min: 88 | self.valor_saida = self.saida_min 89 | 90 | def ajustar_pid(self, kp=None, ki=None, kd=None): 91 | """Ajuste dos parâmetros do cálculo PID 92 | Recebe valores novos se válidos, e retorna os valores""" 93 | if kp is None: 94 | return self.kp 95 | if ki is None: 96 | return self.ki 97 | if kd is None: 98 | return self.kd 99 | self.kp = kp if kp > 0 else __class__.kp 100 | self.ki = ki if ki > 0 else __class__.ki 101 | self.kd = kd if kd > 0 else __class__.kd 102 | 103 | def tempo_amostragem(self, tempo_amostra=None): 104 | """Tempo para fazer amostragem dos valores em milissegundos""" 105 | if tempo_amostra is None: 106 | return self.tempo_amostra 107 | self.tempo_amostra = float(tempo_amostra/1000) if tempo_amostra > 0 else __class__.tempo_amostra 108 | -------------------------------------------------------------------------------- /DecolagemOrbital.py: -------------------------------------------------------------------------------- 1 | import krpc 2 | import math 3 | from ControlePID import ControlePID 4 | from time import sleep 5 | 6 | """MechPestePython - Módulo de decolagem""" 7 | 8 | class DecolagemOrbital(): 9 | #Elementos da UI: 10 | margem_ui = 20 11 | #Parametros: 12 | GRAV = 9.81 13 | conexao = None 14 | centro_espacial = None 15 | 16 | def __init__(self, conexao): 17 | __class__.conexao = conexao 18 | __class__.centro_espacial = conexao.space_center 19 | self.iniciar_decolagem() 20 | 21 | def iniciar_decolagem(self): 22 | #Parametros padrao de decolagem: 23 | self.alt_inicio_curva = 150 24 | self.alt_fim_curva = 60000 25 | self.alt_final = 85000 26 | self.inclinacao = "Normal" 27 | self.programa = 0 28 | self.escudos_soltos = False 29 | #Parametros de voo: 30 | self.nave_atual = __class__.centro_espacial.active_vessel # objeto da nave 31 | ponto_ref = self.nave_atual.orbit.body.reference_frame 32 | voo_nave = self.nave_atual.flight(ponto_ref) 33 | self.ut = __class__.conexao.add_stream(getattr, __class__.centro_espacial, "ut" ) 34 | self.controle_acel = ControlePID() 35 | 36 | #Variaveis da nave: 37 | self.altitude = __class__.conexao.add_stream(getattr, voo_nave, "mean_altitude" ) 38 | self.max_q = __class__.conexao.add_stream(getattr, voo_nave, "dynamic_pressure" ) 39 | self.apoastro = __class__.conexao.add_stream(getattr, self.nave_atual.orbit, "apoapsis_altitude" ) 40 | self.periastro = __class__.conexao.add_stream(getattr, self.nave_atual.orbit, "periapsis_altitude" ) 41 | self.tempo_ate_apoastro = __class__.conexao.add_stream(getattr, self.nave_atual.orbit, "time_to_apoapsis") 42 | 43 | self.construir_painel_info() #<<< Mostrar painel de informacoes 44 | 45 | while True: 46 | if self.programa == 0: 47 | self.iniciar_lancamento() 48 | elif self.programa == 1: 49 | self.giro_gravitacional() 50 | elif self.programa == 2: 51 | self.circularizar() 52 | 53 | sleep(0.40) 54 | 55 | def iniciar_lancamento(self): 56 | # Iniciar Lancamento: 57 | self.nave_atual.control.sas = False # desligar SAS 58 | self.nave_atual.control.rcs = False # desligar RCS 59 | 60 | # Contagem regressiva... 61 | self.set_txt_titulo("Lançamento em:") 62 | for segundo in range(5,0,-1): 63 | self.set_txt_status(segundo) 64 | sleep(1) 65 | 66 | # Acertar aceleracao: 67 | motores = self.nave_atual.parts.engines 68 | empuxo_total_lancamento = motores[0].max_thrust 69 | massa_total_lancamento = self.nave_atual.mass # massa da nave 70 | try: 71 | acel_lancamento = float((1.5 / (empuxo_total_lancamento / (massa_total_lancamento * __class__.GRAV)))) 72 | except: 73 | acel_lancamento = 1 74 | self.nave_atual.control.throttle = acel_lancamento # ACELERAR COM 1.5 DE TWR 75 | 76 | # Lançar e ativar piloto automático 77 | if (str(self.nave_atual.situation) == "VesselSituation.pre_launch"): 78 | self.nave_atual.control.activate_next_stage() 79 | self.nave_atual.auto_pilot.engage() # ativa o piloto auto 80 | self.nave_atual.auto_pilot.target_pitch_and_heading(90, 90) # direção 81 | self.programa = 1 82 | 83 | def giro_gravitacional(self): 84 | self.set_txt_titulo("Altitude em Relação ao Solo:") 85 | 86 | #Controle de Aceleração 87 | self.controle_acel.set_valor_limite(25000) #Limite de pressão dinâmica 88 | self.controle_acel.limitar_saida(0.9 , 3) #Limite de controle do TWR 89 | self.controle_acel.ajustar_pid(0.001,0.001,0.0001) 90 | angulo_giro = 0 # angulo de giro 91 | 92 | while (True): # loop do giro de gravidade 93 | self.set_txt_status(("{0:.1f}".format(self.altitude()) + " metros")) #Mostra Altitude 94 | # Giro de Gravidade 95 | if (self.altitude() > float(self.alt_inicio_curva) and self.altitude() < float(self.alt_fim_curva)): 96 | try: 97 | incremento = math.sqrt((self.altitude() - self.alt_inicio_curva) / (self.alt_fim_curva - self.alt_inicio_curva)) 98 | except: 99 | pass 100 | 101 | if self.inclinacao == "Rasa": 102 | novo_angulo = math.sqrt(incremento* 0.8) * 90.0 103 | elif self.inclinacao == "Normal": 104 | novo_angulo = (incremento) * 85.0 105 | elif self.inclinacao == "Aguda": 106 | novo_angulo = math.pow(incremento,1.2) * 80.0 107 | 108 | if (math.fabs(novo_angulo - angulo_giro) > 0.3): 109 | angulo_giro = novo_angulo 110 | self.nave_atual.auto_pilot.target_pitch_and_heading(float(90 - angulo_giro), 90) 111 | 112 | #Controlar Aceleração para evitar o MaxQ: 113 | self.controle_acel.set_valor_entrada(self.max_q()) 114 | try: 115 | nova_acel = float((self.controle_acel.computar_pid() / (self.nave_atual.available_thrust / (self.nave_atual.mass * __class__.GRAV)))) 116 | except: 117 | nova_acel = 0 118 | self.nave_atual.control.throttle = nova_acel 119 | 120 | if (self.altitude() > 20000): 121 | self.controle_acel.set_valor_limite(20000) 122 | 123 | # Diminuir aceleracao ao chegar perto do apoastro alvo 124 | if (self.apoastro() >= self.alt_final * 0.95): 125 | self.set_txt_titulo("Aproximando-se do apoastro alvo") 126 | self.nave_atual.control.throttle = 0.20 # mudar aceleração pra 25% 127 | break 128 | 129 | self.soltar_escudos() 130 | sleep(0.40) 131 | 132 | # Desativa motores ao chegar no apoastro 133 | while (self.apoastro() < self.alt_final): 134 | self.set_txt_titulo("Altitude do Apoastro:") 135 | self.set_txt_status("{0:.1f}".format(self.apoastro()) + "m, alvo: "+ "{0:.1f}".format(self.alt_final) +"m.") 136 | self.soltar_escudos() 137 | sleep(0.40) 138 | self.set_txt_titulo("Apoastro alvo alcançado") 139 | self.nave_atual.control.throttle = 0 # cortar motor 140 | sleep(1) 141 | # esperar ate sair da atmosfera 142 | self.set_txt_titulo("Esperando sair da atmosfera") 143 | while (self.altitude() < 65000): 144 | self.set_txt_status("Altitude: " + "{0:.1f}".format(self.altitude()) + " metros") 145 | self.soltar_escudos() 146 | sleep(0.40) 147 | self.programa = 2 148 | 149 | def soltar_escudos(self): 150 | # Soltar Fairings da nave: 151 | if (self.altitude() > 50000 and self.escudos_soltos == False): 152 | for escudo in self.nave_atual.parts.fairings: 153 | try: 154 | if not (escudo.jettisoned): 155 | self.set_txt_status("Soltando escudos...") 156 | sleep(1) 157 | escudo.jettison() 158 | self.set_txt_status("Escudos soltos.") 159 | self.escudos_soltos = True 160 | sleep(1) 161 | except: 162 | self.set_txt_status("Erro ao soltar escudos...") 163 | sleep(1) 164 | 165 | def circularizar(self): 166 | # Planejar circularizacao 167 | self.set_txt_titulo("Planejando queima de circularização") 168 | gm = self.nave_atual.orbit.body.gravitational_parameter # pegar parametro G 169 | apo = self.nave_atual.orbit.apoapsis # apoastro da orbita 170 | sma = self.nave_atual.orbit.semi_major_axis # semieixo da orbita 171 | v1 = math.sqrt(gm * ((2.0 / apo) - (1.0 / sma))) 172 | v2 = math.sqrt(gm * ((2.0 / apo) - (1.0 / apo))) 173 | delta_v = v2 - v1 174 | 175 | #Adicionar a manobra 176 | node = self.nave_atual.control.add_node(self.ut() + self.nave_atual.orbit.time_to_apoapsis, prograde = delta_v) 177 | 178 | # Calcular tempo de queima (equacao de foguete) 179 | massa_total = self.nave_atual.mass # massa total do foguete 180 | isp = self.nave_atual.specific_impulse * __class__.GRAV # isp multiplicado pela constante grav 181 | empuxo_total = self.nave_atual.available_thrust # empuxo disponivel 182 | massa_seca = massa_total / math.exp(delta_v / isp) # massa seca do foguete 183 | taxa_queima = empuxo_total / isp # taxa de fluxo, empuxo / isp 184 | tempo_queima = (massa_total - massa_seca) / taxa_queima #tempo de queima 185 | 186 | # Orientar nave ao noh 187 | self.set_txt_status("Orientando nave para queima de circularização") 188 | self.nave_atual.control.rcs = True 189 | self.nave_atual.auto_pilot.reference_frame = node.reference_frame 190 | self.nave_atual.auto_pilot.target_direction = (0.0, 1.0, 0.0) 191 | 192 | # esperar ate a queima 193 | self.set_txt_titulo("Esperando até a queima de circularização") 194 | tempo_ate_queima = float(self.ut() + self.nave_atual.orbit.time_to_apoapsis - (tempo_queima / 2.0)) 195 | self.set_txt_status(("Tempo de queima: " + "{0:.1f}".format(tempo_queima) + " segundos")) 196 | espera = 5 197 | self.nave_atual.auto_pilot.wait() 198 | __class__.centro_espacial.warp_to(tempo_ate_queima - espera) 199 | self.nave_atual.auto_pilot.target_direction = (0.0, 1.0, 0.0) 200 | 201 | # executar queima 202 | self.set_txt_titulo("Pronto para executar queima") 203 | queima_restante = __class__.conexao.add_stream(node.remaining_burn_vector, node.reference_frame) 204 | while (self.tempo_ate_apoastro() - (tempo_queima / 2.0) > 0.1) : 205 | self.set_txt_status(str("Ignição em " + "{0:.1f}".format(self.tempo_ate_apoastro() - (tempo_queima / 2.0)) + " segundos...")) 206 | 207 | self.set_txt_titulo("Executando queima") 208 | self.nave_atual.control.throttle = 1 209 | while (queima_restante()[1] > 1): 210 | sleep(0.20) 211 | if (queima_restante()[1] < 50 and self.nave_atual.control.throttle > 0.1): 212 | self.set_txt_titulo("Ajustando...") 213 | self.nave_atual.control.throttle = 0.1 214 | self.set_txt_status("Delta V restante: " + "{0:.1f}".format(queima_restante()[1]) + "m/s") 215 | self.nave_atual.control.throttle = 0 216 | node.remove() 217 | self.set_txt_titulo("Lançamento completo.") 218 | self.set_txt_status("Apoastro: "+"{0:.1f}".format(self.apoastro())+"m, Periastro: "+"{0:.1f}".format(self.periastro())+"m") 219 | self.nave_atual.auto_pilot.disengage() 220 | self.nave_atual.control.sas = True 221 | self.incremento = 0 222 | self.angulo_giro = 0 223 | self.novo_angulo = 0 224 | sleep(5) 225 | __class__.conexao.close() 226 | 227 | def construir_painel_info(self): 228 | # Tela do jogo: 229 | self.tela_itens = __class__.conexao.ui.stock_canvas 230 | # Tamanho da tela de jogo 231 | tamanho_tela = self.tela_itens.rect_transform.size 232 | # Adicionar um painel para conter os elementos de UI 233 | painel_info = self.tela_itens.add_panel(True) 234 | 235 | # Posicionar o painel a esquerda da tela 236 | painel_transform = painel_info.rect_transform 237 | painel_transform.size = (400.0, 100.0) 238 | painel_transform.position = (-int(tamanho_tela[0] * 0.25), int(tamanho_tela[1] * 0.16)) 239 | 240 | 241 | # Adicionar caixa de texto para altitude 242 | cx_txt = painel_info.add_input_field(True) 243 | self.txt_titulo = painel_info.add_text("Digite a Altitude Final: ", True) 244 | self.txt_status = painel_info.add_text("", False) 245 | 246 | self.txt_titulo.rect_transform.size = (400.0, __class__.margem_ui) 247 | self.txt_status.rect_transform.size = (400.0, __class__.margem_ui) 248 | 249 | self.txt_titulo.rect_transform.position = (__class__.margem_ui, __class__.margem_ui) 250 | self.txt_status.rect_transform.position = (__class__.margem_ui, -__class__.margem_ui) 251 | 252 | self.txt_titulo.color = ( 0.0, 0.0, 0.0) 253 | self.txt_titulo.size = (14) 254 | 255 | self.txt_status.color = ( 1.0, 1.0, 1.0) 256 | self.txt_status.size = (18) 257 | cx_txt.rect_transform.position = (-100.0, -__class__.margem_ui) 258 | cx_txt.value = str(self.alt_final) 259 | 260 | # Adicionar botões: 261 | bt_decolar = painel_info.add_button("Decolar", True) 262 | bt_configurar = painel_info.add_button("Configurar", True) 263 | bt_ok = painel_info.add_button("OK", False) 264 | bt_inc_nor = painel_info.add_button("Normal", False) 265 | bt_inc_agu = painel_info.add_button("Aguda", False) 266 | bt_inc_ras = painel_info.add_button("Rasa", False) 267 | bt_decolar.rect_transform.position = (100.0, -__class__.margem_ui) 268 | bt_configurar.rect_transform.position = (100.0, __class__.margem_ui) 269 | bt_ok.rect_transform.position = (100.0, -__class__.margem_ui) 270 | bt_inc_nor.rect_transform.position = (-100.0, -__class__.margem_ui) 271 | bt_inc_agu.rect_transform.position = (-100.0, -__class__.margem_ui) 272 | bt_inc_ras.rect_transform.position = (-100.0, -__class__.margem_ui) 273 | 274 | 275 | # stream para checar se o botao foi clicado 276 | bt_decolar_clk = __class__.conexao.add_stream(getattr, bt_decolar, "clicked") 277 | bt_ok_clk = __class__.conexao.add_stream(getattr, bt_ok, "clicked") 278 | bt_configurar_clk = __class__.conexao.add_stream(getattr, bt_configurar, "clicked") 279 | bt_inc_nor_clk = __class__.conexao.add_stream(getattr, bt_inc_nor, "clicked") 280 | bt_inc_agu_clk = __class__.conexao.add_stream(getattr, bt_inc_agu, "clicked") 281 | bt_inc_ras_clk = __class__.conexao.add_stream(getattr, bt_inc_ras, "clicked") 282 | 283 | # Esperar clique do botão: 284 | while not (bt_decolar_clk()): 285 | numero = True 286 | if (cx_txt.changed): 287 | try: 288 | self.alt_final = float(cx_txt.value) 289 | except Exception: 290 | numero = False 291 | 292 | if (numero) and (self.alt_final > 70500.0): 293 | self.set_txt_titulo("Digite a Altitude Final: ") 294 | bt_decolar.visible = True 295 | bt_configurar.visible = True 296 | else: 297 | self.set_txt_titulo("Precisa ser um número, acima de 71km!") 298 | bt_decolar.visible = False 299 | bt_configurar.visible = False 300 | sleep(0.50) 301 | if bt_configurar_clk(): 302 | self.set_txt_titulo("Escolha a inclinação de subida orbital:") 303 | bt_inc_nor.visible = True 304 | bt_ok.visible = True 305 | bt_configurar.visible = False 306 | bt_decolar.visible = False 307 | cx_txt.visible = False 308 | 309 | while (True): 310 | if bt_inc_nor_clk(): 311 | self.inclinacao = "Aguda" 312 | bt_inc_nor.clicked = False 313 | bt_inc_nor.visible = False 314 | bt_inc_agu.visible = True 315 | 316 | if bt_inc_agu_clk(): 317 | self.inclinacao = "Rasa" 318 | bt_inc_agu.clicked = False 319 | bt_inc_agu.visible = False 320 | bt_inc_ras.visible = True 321 | if bt_inc_ras_clk(): 322 | self.inclinacao = "Normal" 323 | bt_inc_ras.clicked = False 324 | bt_inc_ras.visible = False 325 | bt_inc_nor.visible = True 326 | 327 | if bt_ok_clk(): 328 | bt_decolar.visible = True 329 | bt_configurar.visible = True 330 | bt_ok.visible = False 331 | bt_inc_nor.visible = False 332 | bt_inc_agu.visible = False 333 | bt_inc_ras.visible = False 334 | bt_ok.clicked = False 335 | bt_configurar.clicked = False 336 | cx_txt.visible = True 337 | self.set_txt_titulo("Digite a Altitude Final: ") 338 | break 339 | 340 | bt_inc_ras.remove() 341 | bt_inc_nor.remove() 342 | bt_inc_agu.remove() 343 | bt_ok.remove() 344 | bt_decolar.remove() 345 | bt_configurar.remove() 346 | cx_txt.remove() 347 | self.txt_status.visible = True 348 | 349 | def set_txt_titulo(self, texto): 350 | self.txt_titulo.content = texto 351 | 352 | def set_txt_status(self, texto): 353 | self.txt_status.content = ("Status: " + str(texto)) 354 | 355 | if (__name__ == "__main__"): 356 | conexao = krpc.connect(name="MechPeste") 357 | do = DecolagemOrbital(conexao) 358 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. 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If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /MechPeste.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python3 2 | 3 | # Autor: Renan Torres 4 | # Data: 14/08/2018 5 | # Mod MechPestePython 6 | 7 | import DecolagemOrbital 8 | import SuicideBurn 9 | import krpc 10 | import time 11 | import traceback 12 | 13 | """MechPestePython mod de controle automático de foguetes""" 14 | 15 | class MechPeste: 16 | def __init__(self): 17 | self.margem_ui = 20.0 18 | self.num_conexoes = 0 19 | self.conexao = None 20 | self.painel_info = None 21 | self.GRAV = 9.8175 22 | self.rodar() 23 | 24 | 25 | def rodar(self): 26 | try: 27 | print("Rodando...") 28 | self.iniciar_mechpeste() 29 | print("Aguardando Função.") 30 | # Loop principal: 31 | while True: 32 | if self.bt_suicide_clk(): 33 | self.bt_flutuar.clicked = False 34 | self.bt_decolar.visible = False 35 | self.bt_flutuar.visible = False 36 | self.txt_painel_1.visible = True 37 | self.txt_painel_2.visible = True 38 | SuicideBurn.SuicideBurn(self.conexao) 39 | 40 | 41 | # Se clicar em Decolar: 42 | if self.bt_decolar_clk(): 43 | self.bt_decolar.clicked = False 44 | self.bt_decolar.visible = False 45 | self.txt_painel_1.visible = True 46 | self.txt_painel_2.visible = True 47 | DecolagemOrbital.DecolagemOrbital(self.conexao) 48 | break 49 | #Espera do Loop 50 | time.sleep(0.50) 51 | 52 | except Exception as e: 53 | self.num_conexoes += 1 54 | print("Erro de conexão: {}".format(e)) 55 | print(traceback.format_exc()) 56 | time.sleep(1) 57 | if (self.num_conexoes < 1): 58 | try: 59 | if self.conexao != None: 60 | self.conexao.close() 61 | self.reset_painel() 62 | except Exception as e: 63 | self.rodar() 64 | 65 | def iniciar_mechpeste(self): 66 | # Conexão com o Server KRPC 67 | self.conexao = krpc.connect(name="MechPeste") 68 | # Buscar tela de jogo 69 | self.tela_itens = self.conexao.ui.stock_canvas 70 | # Tamanho da tela de jogo 71 | self.tamanho_tela = self.tela_itens.rect_transform.size 72 | # Adicionar Painel com os botões 73 | self.painel_bts = self.adicionar_painel(self.tela_itens) 74 | # Streams para ver quando os botões são clicados: 75 | self.bt_pouso_clk = self.conexao.add_stream(getattr, self.bt_pousar, "clicked") 76 | self.bt_suicide_clk = self.conexao.add_stream(getattr, self.bt_flutuar, "clicked") 77 | self.bt_decolar_clk = self.conexao.add_stream(getattr, self.bt_decolar, "clicked") 78 | 79 | def adicionar_painel(self,tela): 80 | # Adicionar Painel usando o canvas como argumento 81 | self.painel_info = tela.add_panel() 82 | # Posicionar o painel e movê-lo à esquerda da tela 83 | self.retangulo = self.painel_info.rect_transform 84 | self.retangulo.size = (450, 40) 85 | self.retangulo.position = (0, (self.tamanho_tela[1]) / 2 - 85) 86 | # Adicionar Botões ao painel do Mod: 87 | self.bt_decolar = self.painel_info.add_button("Decolar") 88 | self.bt_decolar.rect_transform.size = (125, 30) 89 | self.bt_decolar.rect_transform.position = (-150, 0) 90 | 91 | self.bt_flutuar = self.painel_info.add_button("Flutuar") 92 | self.bt_flutuar.rect_transform.size = (125, 30) 93 | self.bt_flutuar.rect_transform.position = (0, 0) 94 | 95 | self.bt_pousar = self.painel_info.add_button("Pousar") 96 | self.bt_pousar.rect_transform.size = (125, 30) 97 | self.bt_pousar.rect_transform.position = (150, 0) 98 | # Adicionar texto mostrando informações: 99 | self.txt_painel_1 = self.painel_info.add_text("Alt:", False) 100 | self.txt_painel_1.rect_transform.position = (10, 0) 101 | self.txt_painel_1.rect_transform.size = (self.retangulo.size[0], self.margem_ui) 102 | self.txt_painel_1.color = (1, 1, 1) 103 | self.txt_painel_1.size = 18 104 | 105 | self.txt_painel_2 = self.painel_info.add_text("0", False) 106 | self.txt_painel_2.rect_transform.position = (50, 0) 107 | self.txt_painel_2.rect_transform.size = (self.retangulo.size[0], self.margem_ui) 108 | self.txt_painel_2.color = (1,1,1) 109 | self.txt_painel_2.size = 18 110 | 111 | #Retorna o objeto de painel 112 | return self.painel_info 113 | 114 | 115 | def set_txt_painel_1(self,texto): 116 | self.txt_painel_1.content(texto) 117 | 118 | def set_txt_painel_2(self,texto): 119 | self.txt_painel_2.content(texto) 120 | 121 | def reset_painel(self): 122 | self.bt_flutuar.clicked = False 123 | self.bt_decolar.clicked = False 124 | self.bt_pousar.clicked = False 125 | 126 | self.bt_pousar.visible = True 127 | self.bt_decolar.visible = True 128 | self.bt_flutuar.visible = True 129 | 130 | self.txt_painel_1.visible = False 131 | self.txt_painel_2.visible = False 132 | self.txt_painel_1.content = "" 133 | self.txt_painel_2.content = "" 134 | 135 | if (__name__ == "__main__"): 136 | 137 | mp = MechPeste() 138 | -------------------------------------------------------------------------------- /Navegacao.py: -------------------------------------------------------------------------------- 1 | import Vetor 2 | from ControlePID import ControlePID 3 | import math 4 | 5 | 6 | class Navegacao: 7 | 8 | def __init__(self): 9 | self.alinhar_distancia_horizontal = Vetor.Vetor(0, 0) 10 | self.posicao_pouso_alvo = Vetor.Vetor(0.0, 0.0) 11 | self.vetorDaVelocidade = Vetor.Vetor(0, 0) 12 | self.controle_mag = ControlePID() 13 | self.retornar_vetor = Vetor.Vetor(0, 0) 14 | 15 | def navegacao(self, centro_espacial, nave_atual): 16 | self.centro_espacial = centro_espacial 17 | self.nave_atual = nave_atual 18 | self.ponto_ref = self.nave_atual.orbit.body.reference_frame 19 | self.voo_nave = self.nave_atual.flight(self.ponto_ref) 20 | self.controle_mag.tempo_amostragem(40) 21 | self.controle_mag.ajustar_pid(0.5, 0.001, 10) 22 | self.controle_mag.limitar_saida(-1, 1) 23 | self.mirar_nave() 24 | 25 | def mirar_nave(self): 26 | # Buscar Nó Retrógrado: 27 | self.posicao_pouso_alvo = \ 28 | self.centro_espacial.transform_position(self.voo_nave.retrograde, 29 | self.nave_atual.surface_velocity_reference_frame, 30 | self.ponto_ref) 31 | self.alinhar_distancia_horizontal = \ 32 | Vetor.vetor_distancia(self.centro_espacial.transform_position(self.posicao_pouso_alvo, 33 | self.ponto_ref, 34 | self.nave_atual.surface_reference_frame), 35 | self.nave_atual.position(self.nave_atual.surface_reference_frame)) 36 | 37 | self.alinhar_direcao = self.get_elevacao_direcao_do_vetor(self.alinhar_distancia_horizontal) 38 | 39 | self.nave_atual.auto_pilot.target_pitch_and_heading(self.alinhar_direcao.y, self.alinhar_direcao.x) 40 | self.nave_atual.auto_pilot.target_roll = self.alinhar_direcao.x 41 | 42 | def get_elevacao_direcao_do_vetor(self, vetor): 43 | self.vel_relativa = self.centro_espacial.transform_position(self.voo_nave.velocity, 44 | self.ponto_ref, 45 | self.nave_atual.surface_reference_frame) 46 | 47 | self.vetorDaVelocidade.x = (self.vel_relativa[1]) 48 | self.vetorDaVelocidade.y = (self.vel_relativa[2]) 49 | 50 | vetor = vetor.subtrai(self.vetorDaVelocidade) 51 | 52 | self.retornar_vetor.x = Vetor.angulo_direcao(vetor) 53 | 54 | self.comprimento = math.pow(1 + vetor.magnitude(), 1) - 1 55 | self.controle_mag.entrada_pid(self.comprimento) 56 | self.controle_mag.limite_pid(self.vetorDaVelocidade.magnitude()) 57 | self.retornar_vetor.y = max(60, (90 - int(self.comprimento) * 2)) 58 | 59 | # print("Comprimento: " + str(self.comprimento)) 60 | # print("Comprimento Vel: " + str(self.vetorDaVelocidade.magnitude())) 61 | # print("Inclinacao: " + str(self.retornar_vetor.elevacao)) 62 | # print("PID: " + str(self.controle_mag.computar_pid())) 63 | # 64 | return self.retornar_vetor 65 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # MechPeste-Python 2 | Mod Mech Peste com módulos escritos em Python 3 | por Pesterenan 4 | 5 | Como não sei programar muito em Python, existem várias linhas comentadas nos módulos, e todos estão escritos como classes em Python, o que não é muito viável, mas é como eu consegui fazer funcionar. 6 | 7 | O intuito dos scripts é se unificar num programa só, no qual o jogador usa apenas um script (MechPeste.py) para iniciar tudo. 8 | 9 | No momento os módulos de Suicide Burn e Decolagem Orbital estão funcionando isoladamente. 10 | É só copiar todos os arquivos para uma pasta, e ter o Python 3 e o mod KRPC instalados na máquina. 11 | -------------------------------------------------------------------------------- /RoverPST.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | # coding: "UTF-8" 3 | # Autor: Renan Torres 4 | # Data: 14/02/2019 5 | # Módulo MechRover 6 | 7 | import krpc 8 | from time import sleep 9 | from ControlePID import ControlePID 10 | import Vetor 11 | 12 | 13 | class RoverPST: 14 | 15 | margem_ui = 20 16 | 17 | def __init__(self, arg0): 18 | self.conexao_krpc = arg0 # Conexão com o KRPC 19 | self.centro_espacial = arg0.space_center # Objeto do Centro Espacial 20 | self.marcadores = self.centro_espacial.waypoint_manager # Gerenciador de Marcadores no mapa 21 | self.rover = self.centro_espacial.active_vessel # Objeto do Rover (Nave Atual) 22 | self.ponto_ref_orbital = self.rover.orbit.body.reference_frame # Ponto de Referência Orbital 23 | self.ponto_ref_superficie = self.rover.surface_reference_frame # Ponto de Referência da Superfície 24 | self.ponto_ref_rover = self.rover.reference_frame # Ponto de Referência do Rover 25 | self.parametros_rover = self.rover.flight(self.ponto_ref_orbital) # Parâmetros de "voo" do Rover 26 | # Definindo Vetores de posição e direção: 27 | self.posicao_rover = Vetor.Vetor(0, 0) 28 | self.posicao_alvo = Vetor.Vetor(0, 0) 29 | self.direcao_rover = Vetor.Vetor(0, 0) 30 | self.distancia_entre_pontos = Vetor.Vetor(0, 0) 31 | # Variáveis de Angulo: 32 | self.angulo_alvo = 0.0 33 | self.angulo_rover = 0.0 34 | 35 | print("O nome do Rover é: {0:.30}".format(self.rover.name)) 36 | self.alvo = self.definir_alvo() 37 | if self.alvo is not None: 38 | print("Está buscando o alvo: {0:.30}".format(str(self.alvo.name)), "\n") 39 | 40 | self.ctrl_direcao = ControlePID() 41 | self.ctrl_direcao.ajustar_pid(0.01, 0.001, 0.01) 42 | self.ctrl_aceleracao = ControlePID() 43 | self.ctrl_aceleracao.ajustar_pid(0.5, 0.001, 0.1) 44 | self.ctrl_distancia_alvo = ControlePID() 45 | self.ctrl_distancia_alvo.ajustar_pid(0.1, 0.001, 5) 46 | self.ctrl_distancia_alvo.limitar_saida(-1, 1) 47 | self.limite_distancia_alvo = 50 48 | self.velocidade_maxima = 15 49 | self.velocidade_curva = 3 50 | self.construir_painel_info() 51 | self.controlar_rover() 52 | 53 | def controlar_rover(self): 54 | while True: 55 | try: 56 | self.definir_vetor_direcao(self.definir_alvo()) 57 | self.informar_ctrl_pid() 58 | # Com tudo calculado, pilotar o rover: 59 | if self.distancia_entre_pontos.magnitude() > self.limite_distancia_alvo: 60 | self.acelerar_rover(self.ctrl_aceleracao.computar_pid()) 61 | self.pilotar_rover() 62 | else: 63 | self.acelerar_rover(self.ctrl_aceleracao.computar_pid() * self.ctrl_distancia_alvo.computar_pid()) 64 | 65 | self.atualizar_infos() 66 | except AttributeError: 67 | print("Sem alvo selecionado") 68 | sleep(1) 69 | 70 | sleep(0.05) 71 | 72 | def informar_ctrl_pid(self): 73 | # Informar ao PID de controle de direção os ângulos e tentar zerar a diferença entre eles: 74 | self.ctrl_direcao.entrada_pid(self.angulo_rover - abs(self.angulo_alvo)) 75 | self.ctrl_direcao.limite_pid(0) 76 | # Informar ao PID de aceleração a velocidade horizontal e limitar: 77 | self.ctrl_aceleracao.entrada_pid(self.parametros_rover.horizontal_speed) 78 | self.ctrl_distancia_alvo.entrada_pid(self.limite_distancia_alvo - self.distancia_entre_pontos.magnitude()) 79 | self.ctrl_distancia_alvo.limite_pid(0) 80 | diferenca_angulo = self.angulo_rover - abs(self.angulo_alvo) 81 | if abs(diferenca_angulo) > 30: 82 | self.ctrl_aceleracao.limite_pid(self.velocidade_curva) 83 | else: 84 | self.ctrl_aceleracao.limite_pid(self.velocidade_maxima) 85 | 86 | def definir_vetor_direcao(self, alvo): 87 | # Vetor de posição do Rover em relacão à superfície: 88 | self.posicao_rover = Vetor.Vetor(self.posicionar_vetor(self.rover.position(self.ponto_ref_superficie))) 89 | # Vetor de posição do Alvo em relacão ao rover e a órbita: 90 | self.posicao_alvo = Vetor.Vetor(self.posicionar_vetor(alvo.position(self.ponto_ref_rover))) 91 | # Vetor de posição do alvo em relacão à superfície e ao rover: 92 | self.direcao_rover = Vetor.Vetor(alvo.position(self.ponto_ref_rover)) 93 | # Vetor de distância do alvo em relacão rover: 94 | self.distancia_entre_pontos = self.posicao_rover.subtrai(self.posicao_alvo) 95 | # Calculando angulos até o alvo e da direção do rover 96 | self.angulo_alvo = Vetor.angulo_direcao(self.distancia_entre_pontos) 97 | self.angulo_rover = Vetor.angulo_direcao(self.direcao_rover) 98 | 99 | def pilotar_rover(self): 100 | if not 0 < self.angulo_alvo - self.angulo_rover < 1: 101 | self.rover.control.wheel_steering = -self.ctrl_direcao.computar_pid() 102 | else: 103 | self.rover.control.wheel_steering = 0 104 | 105 | def posicionar_vetor(self, arg): 106 | if type(arg) is Vetor.Vetor: 107 | vetor = (arg.x, arg.y, 0) 108 | vetor_retorno = self.centro_espacial.transform_position(vetor, self.ponto_ref_superficie, self.ponto_ref_orbital) 109 | else: 110 | vetor_retorno = self.centro_espacial.transform_position(arg, self.ponto_ref_superficie, self.ponto_ref_orbital) 111 | return round(vetor_retorno[0], 2), round(vetor_retorno[1], 2), round(vetor_retorno[2], 2) 112 | 113 | def acelerar_rover(self, arg0): 114 | self.rover.control.wheel_throttle = arg0 115 | 116 | def definir_alvo(self): 117 | try: 118 | self.alvo = self.centro_espacial.target_vessel 119 | return self.alvo 120 | except AttributeError: 121 | return None 122 | 123 | def construir_painel_info(self): 124 | # Tela do jogo: 125 | self.tela_itens = self.conexao_krpc.ui.stock_canvas 126 | # Tamanho da tela de jogo 127 | tamanho_tela = self.tela_itens.rect_transform.size 128 | # Adicionar um painel para conter os elementos de UI 129 | painel_info = self.tela_itens.add_panel(True) 130 | 131 | # Posicionar o painel a esquerda da tela 132 | painel_transform = painel_info.rect_transform 133 | painel_transform.size = (200.0, 100.0) 134 | painel_transform.position = (-int(tamanho_tela[0] * 0.25), int(tamanho_tela[1] * 0.16)) 135 | 136 | self.txt_angulo_rover = painel_info.add_text("Angulo Rover: ", True) 137 | self.txt_angulo_alvo = painel_info.add_text("Angulo Alvo: ", True) 138 | self.txt_angulo_distancia = painel_info.add_text("Angulo Distancia: ", True) 139 | self.txt_distancia_alvo = painel_info.add_text("Distância até o alvo: ", True) 140 | self.txt_angulo_rover.rect_transform.size = (200.0, __class__.margem_ui) 141 | self.txt_angulo_alvo.rect_transform.size = (200.0, __class__.margem_ui) 142 | self.txt_angulo_distancia.rect_transform.size = (200.0, __class__.margem_ui) 143 | self.txt_distancia_alvo.rect_transform.size = (200.0, __class__.margem_ui) 144 | self.txt_angulo_rover.rect_transform.position = (__class__.margem_ui, __class__.margem_ui) 145 | self.txt_angulo_alvo.rect_transform.position = (__class__.margem_ui, 0) 146 | self.txt_angulo_distancia.rect_transform.position = (__class__.margem_ui, -__class__.margem_ui) 147 | self.txt_distancia_alvo.rect_transform.position = (__class__.margem_ui, -(__class__.margem_ui * 2)) 148 | self.txt_angulo_rover.color = (0.0, 0.0, 0.0) 149 | self.txt_angulo_rover.size = 12 150 | self.txt_angulo_alvo.color = (0.0, 0.0, 0.0) 151 | self.txt_angulo_alvo.size = 12 152 | self.txt_angulo_distancia.color = (1.0, 1.0, 1.0) 153 | self.txt_angulo_distancia.size = 12 154 | self.txt_distancia_alvo.color = (1.0, 1.0, 1.0) 155 | self.txt_distancia_alvo.size = 12 156 | 157 | def atualizar_infos(self): 158 | self.txt_angulo_rover.content = "Correção de Ângulo: " + str(round(self.angulo_rover - abs(self.angulo_alvo),2)) 159 | self.txt_angulo_alvo.content = "Acelerador: " + str(round(self.ctrl_aceleracao.computar_pid(),2)) 160 | self.txt_angulo_distancia.content = "Angulo Distância: " + str(Vetor.angulo_direcao(self.distancia_entre_pontos)) 161 | self.txt_distancia_alvo.content = "Distância: " + str(round(self.distancia_entre_pontos.magnitude(), 1)) + "m" 162 | 163 | 164 | if __name__ == "__main__": 165 | conexao = krpc.connect(name="RoverPST") 166 | mr = RoverPST(conexao) 167 | 168 | # REFERENCE_FRAME = ORIENTADO E POSICIONADO COM A NAVE 169 | # O EIXO X É PRA DIREITA 170 | # O EIXO Y É PARA FRENTE >> 171 | # O EIXO Z É PARA BAIXO 172 | 173 | # SURFACE_REFERENCE_FRAME = ORIENTADO PELA SUPERFICIE E POSICIONADO COM A NAVE 174 | # O EIXO X É PRO ZENITE (DO CENTRO PRA CIMA) 175 | # O EIXO Y É PRO NORTE (BUSSOLA) 176 | # O EIXO Z É PRO LESTE 177 | 178 | # ORBITAL_REFERENCE_FRAME = RELATIVO A NAVE ORIENTADO A ORBITA 179 | # O EIXO X É PRO CENTRO 180 | # O EIXO Y É PRA FRENTE 181 | # O EIXO Z É PRO NORTE 182 | 183 | 184 | -------------------------------------------------------------------------------- /SuicideBurn.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | # Autor: Renan Torres 4 | # Data: 31/08/2018 5 | # Módulo SuicideBurn 6 | 7 | from time import sleep 8 | import math 9 | import krpc 10 | from ControlePID import ControlePID 11 | from Navegacao import Navegacao 12 | """MechPestePython - Módulo de Suicide Burn""" 13 | 14 | 15 | class SuicideBurn: 16 | margem_ui = 20 17 | conexao = None 18 | centro_espacial = None 19 | 20 | def __init__(self, arg): 21 | __class__.conexao = arg 22 | __class__.centro_espacial = conexao.space_center 23 | self.nave_atual = __class__.centro_espacial.active_vessel # objeto da nave 24 | self.ponto_ref = self.nave_atual.orbit.body.reference_frame 25 | self.voo_nave = self.nave_atual.flight(self.ponto_ref) 26 | # Parâmetros da nave 27 | self.altitude_da_nave = conexao.add_stream(getattr, self.voo_nave, "surface_altitude") 28 | self.vel_vert_nave = conexao.add_stream(getattr, self.voo_nave, "vertical_speed") 29 | self.massa_total_nave = conexao.add_stream(getattr, self.nave_atual, "mass") 30 | self.ut = conexao.add_stream(getattr, __class__.centro_espacial, "ut") 31 | self.controle_acel = ControlePID() 32 | self.controle_pouso = ControlePID() 33 | self.nav = Navegacao() 34 | self.distancia_pouso = 50 # Altura pra começar o Hover 35 | self.forca_grav = self.nave_atual.orbit.body.surface_gravity 36 | self.exec_suicide_burn = False 37 | self.pode_pousar = False 38 | self.nave_twr_max = 1 39 | self.acel_max = 0 40 | self.empuxo_total = 0 41 | self.distancia_ate_queima = 0 42 | self.tempo_da_queima = 0 43 | 44 | 45 | self.construir_painel_info() 46 | 47 | 48 | def iniciar_suicide_burn(self): 49 | print("Nave Atual: ", self.nave_atual.name) 50 | print(str(self.nave_atual.situation)) 51 | print("Força da Gravidade Atual: ", self.forca_grav, "Corpo Celeste: ", self.nave_atual.orbit.body.name) 52 | self.calcular_parametros() 53 | print("Força de TWR da Nave: ", self.nave_twr_max) 54 | self.controle_acel.tempo_amostragem(40) 55 | self.controle_pouso.tempo_amostragem(40) 56 | self.controle_acel.ajustar_pid(0.025, 0.001, 0.025) # <== AJUSTES PID 57 | self.controle_pouso.ajustar_pid(0.1, 0.001, 0.1) # <== AJUSTES PID 58 | # Limita a aceleração da nave: 59 | self.nave_atual.auto_pilot.engage() # LIGAR O PILOTO 60 | self.decolagem_de_teste() 61 | self.calcular_parametros() 62 | self.controle_acel.limitar_saida(0, 1) 63 | self.controle_pouso.limitar_saida(0.75 / self.nave_twr_max, 1) 64 | self.controle_pouso.limite_pid(0) 65 | self.nav.navegacao(__class__.centro_espacial, self.nave_atual) 66 | 67 | while not self.exec_suicide_burn: # LOOP esperando para executar o SuicideBurn 68 | self.calcular_parametros() 69 | self.pode_pousar = False 70 | self.nav.mirar_nave() 71 | # Ativa freios e RCS para melhorar o controle da descida: 72 | if 100 < self.altitude_da_nave() < 10000: 73 | self.nave_atual.control.brakes = True 74 | else: 75 | self.nave_atual.control.brakes = False 76 | if self.altitude_da_nave() < 4000: 77 | self.nave_atual.control.rcs = True 78 | # self.controle_acel.ajustar_pid(round(self.nave_twr_max, 1) / 200, 0.001, 1) 79 | 80 | if (0 > self.altitude_da_nave() - self.distancia_ate_queima - self.distancia_pouso) and (self.vel_vert_nave() < -1): 81 | self.exec_suicide_burn = True 82 | print("Iniciando o Suicide Burn!") 83 | sleep(0.1) 84 | 85 | # -=-=- Loop Principal do Suicide Burn -=-=- 86 | while self.exec_suicide_burn: 87 | # Calcula os valores de aceleração e TWR do foguete: 88 | self.calcular_parametros() 89 | # Desce o trem de pouso da nave em menos de 100 metros 90 | if self.altitude_da_nave() < 100: 91 | self.nave_atual.control.gear = True 92 | # Informa aos PIDs a altitude, limite e velocidade da nave 93 | self.controle_acel.entrada_pid(self.altitude_da_nave()) 94 | self.controle_acel.limite_pid(self.distancia_ate_queima) 95 | self.controle_pouso.entrada_pid(self.vel_vert_nave()) 96 | 97 | # Aponta nave para o retrograde se a velocidade horizontal for maior que 1m/s 98 | if self.altitude_da_nave() > self.distancia_pouso: 99 | self.pode_pousar = False 100 | else: 101 | self.pode_pousar = True 102 | 103 | if self.voo_nave.horizontal_speed > 0.2: 104 | self.nav.mirar_nave() 105 | else: 106 | self.nave_atual.control.target_pitch = 0 107 | # Acelera o foguete de acordo com o PID: 108 | correcao_anterior = self.nave_atual.control.throttle 109 | try: 110 | if self.pode_pousar is False: 111 | self.aceleracao(float((correcao_anterior + self.controle_acel.computar_pid() + 1 / self.nave_twr_max) / 3)) 112 | print("Valor Saída ACEL: ", self.controle_acel.computar_pid()) 113 | else: 114 | self.aceleracao(float(self.controle_pouso.computar_pid())) 115 | print("Valor Saída POUSO: ", self.controle_pouso.computar_pid()) 116 | 117 | except ZeroDivisionError: 118 | print("Erro no cálculo da aceleração. Usando valor antigo") 119 | self.aceleracao(correcao_anterior) 120 | 121 | # Verifica se o foguete pousou 122 | self.checar_pouso() 123 | 124 | sleep(0.05) 125 | 126 | def calcular_parametros(self): 127 | # Calcular TWR: 128 | try: 129 | if self.nave_atual.available_thrust == 0.0: 130 | self.empuxo_atual = self.nave_atual.available_thrust 131 | else: 132 | self.empuxo_atual = 0.0 133 | for motor in self.nave_atual.parts.engines: 134 | self.empuxo_atual += motor.available_thrust 135 | 136 | self.nave_twr_max = self.empuxo_atual / (self.massa_total_nave() * self.forca_grav) 137 | # Aceleração Máxima da Nave: 138 | self.acel_max = (self.nave_twr_max * self.forca_grav) - self.forca_grav 139 | # Tempo de queima dessa aceleração e distancia até iniciar a queima de suicide burn com essa aceleração: 140 | self.tempo_da_queima = abs(self.vel_vert_nave()) / self.acel_max 141 | self.distancia_ate_queima = abs(self.vel_vert_nave()) * self.tempo_da_queima \ 142 | + 1 / 2 * self.acel_max * (self.tempo_da_queima ** 2) 143 | 144 | except ZeroDivisionError: 145 | self.nave_twr_max = 1 146 | self.tempo_da_queima = 0 147 | self.distancia_ate_queima = 0 148 | # Mostrar dados: 149 | try: 150 | self.txt_altitude.content = str("Altitude: {0:.1f}{1}".format(self.altitude_da_nave(), "m")) 151 | self.txt_velocidade.content = str("Velocidade: {0:.1f}{1}".format(self.vel_vert_nave(), "m/s")) 152 | self.txt_suicide_dist.content = str("Distância até Suicide: {0:>20.1f}{1}".format( 153 | (self.altitude_da_nave() - self.distancia_ate_queima - self.distancia_pouso), "m")) 154 | except ZeroDivisionError: 155 | self.txt_altitude.content = "Impossível buscar altitude" 156 | self.txt_velocidade.content = "Impossível buscar velocidade" 157 | self.txt_suicide_dist.content = "Impossível buscar distância" 158 | try: 159 | self.txt_twr.content = str("TWR: {0:.1f}".format(self.nave_twr_max)) 160 | except ZeroDivisionError: 161 | self.txt_twr.content = "Impossível buscar TWR" 162 | 163 | def aceleracao(self, valor): 164 | """ Acelera a nave de acordo com o valor 165 | Se o valor for negativo, o resultado é 0, se for maior que 1, fica 1""" 166 | valor = valor if valor > 0 else 0 167 | valor = valor if valor < 1 else 1 168 | self.nave_atual.control.throttle = valor 169 | 170 | def decolagem_de_teste(self): 171 | situacao_da_nave = str(self.nave_atual.situation) 172 | # Se o veículo está pousado ou na base de lançamento, ele sobe: 173 | if situacao_da_nave == "VesselSituation.landed" or situacao_da_nave == "VesselSituation.pre_launch": 174 | if situacao_da_nave == "VesselSituation.pre_launch": 175 | self.nave_atual.control.activate_next_stage() 176 | self.nave_atual.control.gear = False 177 | self.calcular_parametros() 178 | self.aceleracao(1) 179 | while self.altitude_da_nave() <= self.distancia_pouso: 180 | self.nave_atual.control.target_pitch = 0 181 | sleep(0.1) 182 | self.aceleracao(0) 183 | sleep(0.1) 184 | self.nave_atual.control.target_pitch = 0 # mirar pra cima <<< 185 | else: 186 | self.aceleracao(0) 187 | 188 | def checar_pouso(self): 189 | situacao_da_nave = str(self.nave_atual.situation) 190 | if situacao_da_nave == "VesselSituation.landed" or \ 191 | situacao_da_nave == "VesselSituation.splashed" and self.pode_pousar: 192 | while self.nave_atual.control.throttle > 0.1: 193 | acel = self.nave_atual.control.throttle - 0.1 194 | self.aceleracao(acel) 195 | sleep(0.1) 196 | print("Pouso finalizado.") 197 | self.aceleracao(0) 198 | self.nave_atual.auto_pilot.disengage() 199 | self.nave_atual.control.rcs = True 200 | self.nave_atual.control.sas = True 201 | self.nave_atual.control.brakes = False 202 | self.pode_pousar = False 203 | self.nave_atual.auto_pilot.disengage() # DESLIGAR O PILOTO 204 | self.exec_suicide_burn = False 205 | 206 | def construir_painel_info(self): 207 | # Tela do jogo: 208 | self.tela_itens = __class__.conexao.ui.stock_canvas 209 | # Tamanho da tela de jogo 210 | tamanho_tela = self.tela_itens.rect_transform.size 211 | # Adicionar um painel para conter os elementos de UI 212 | painel_info = self.tela_itens.add_panel(True) 213 | 214 | # Posicionar o painel a esquerda da tela 215 | painel_transform = painel_info.rect_transform 216 | painel_transform.size = (400.0, 100.0) 217 | painel_transform.position = (-int(tamanho_tela[0] * 0.25), int(tamanho_tela[1] * 0.16)) 218 | 219 | self.txt_altitude = painel_info.add_text("Altitude: ", True) 220 | self.txt_velocidade = painel_info.add_text("Velocidade: ", True) 221 | self.txt_twr = painel_info.add_text("TWR: ", True) 222 | self.txt_suicide_dist = painel_info.add_text("Distância Suicide: ", True) 223 | self.txt_altitude.rect_transform.size = (400.0, __class__.margem_ui) 224 | self.txt_velocidade.rect_transform.size = (400.0, __class__.margem_ui) 225 | self.txt_twr.rect_transform.size = (400.0, __class__.margem_ui) 226 | self.txt_suicide_dist.rect_transform.size = (400.0, __class__.margem_ui) 227 | self.txt_altitude.rect_transform.position = (__class__.margem_ui, __class__.margem_ui) 228 | self.txt_velocidade.rect_transform.position = (__class__.margem_ui, 0) 229 | self.txt_twr.rect_transform.position = (__class__.margem_ui, -__class__.margem_ui) 230 | self.txt_suicide_dist.rect_transform.position = (__class__.margem_ui, -(__class__.margem_ui * 2)) 231 | self.txt_altitude.color = (0.0, 0.0, 0.0) 232 | self.txt_altitude.size = 12 233 | self.txt_velocidade.color = (0.0, 0.0, 0.0) 234 | self.txt_velocidade.size = 12 235 | self.txt_twr.color = (1.0, 1.0, 1.0) 236 | self.txt_twr.size = 12 237 | self.txt_suicide_dist.color = (1.0, 1.0, 1.0) 238 | self.txt_suicide_dist.size = 12 239 | 240 | # Adicionar botões: 241 | bt_sburn = painel_info.add_button("Suicide Burn", True) 242 | bt_cancelar = painel_info.add_button("Cancelar", True) 243 | bt_sburn.rect_transform.position = (100.0, -__class__.margem_ui) 244 | bt_cancelar.rect_transform.position = (100.0, __class__.margem_ui) 245 | 246 | # stream para checar se o botao foi clicado 247 | bt_sburn_clk = __class__.conexao.add_stream(getattr, bt_sburn, "clicked") 248 | bt_cancelar_clk = __class__.conexao.add_stream(getattr, bt_cancelar, "clicked") 249 | cancelar = False 250 | # Esperar clique do botão: 251 | while not (bt_sburn_clk()): 252 | try: 253 | self.txt_altitude.content = str("Altitude: {0:.1f}{1}".format(self.altitude_da_nave(), "m")) 254 | self.txt_velocidade.content = str("Velocidade: {0:.1f}{1}".format(self.vel_vert_nave(), "m/s")) 255 | except: 256 | self.txt_altitude.content = "Impossível buscar altitude" 257 | self.txt_velocidade.content = "Impossível buscar velocidade" 258 | try: 259 | for motor in self.nave_atual.parts.engines: 260 | self.empuxo_total += motor.max_thrust 261 | twr_atual = float(self.empuxo_total / (self.massa_total_nave() * self.forca_grav)) 262 | self.txt_twr.content = str("TWR: {0:.1f}".format(twr_atual)) 263 | self.empuxo_total = 0 264 | except: 265 | self.txt_twr.content = "Impossível buscar TWR" 266 | sleep(0.5) 267 | if bt_cancelar_clk(): 268 | cancelar = True 269 | break 270 | if not cancelar: 271 | self.iniciar_suicide_burn() 272 | bt_sburn.clicked = False 273 | bt_sburn.remove() 274 | 275 | 276 | if __name__ == "__main__": 277 | conexao = krpc.connect(name="MechPeste") 278 | sb = SuicideBurn(conexao) 279 | -------------------------------------------------------------------------------- /Vetor.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | # coding: "UTF-8" 3 | # Autor: Renan Torres 4 | # Data: 07/02/2019 5 | # Módulo Vetor 6 | 7 | import math 8 | 9 | 10 | class Vetor: 11 | x = 0 12 | y = 0 13 | direcao = 0 14 | 15 | def __init__(self, arg0=None, arg1=None): 16 | if type(arg0) == tuple: 17 | self.x = round(arg0[0], 3) 18 | self.y = round(arg0[1], 3) 19 | else: 20 | self.x = round(arg0, 3) 21 | self.y = round(arg1, 3) 22 | 23 | def __str__(self): 24 | return "(" + str(round(self.x, 3)) + "," + str(round(self.y, 3)) + ")" 25 | 26 | def inverte(self): 27 | return Vetor(self.y, self.x) 28 | 29 | def magnitude(self): 30 | return math.sqrt(self.x ** 2 + self.y ** 2) 31 | 32 | def normalizar(self): 33 | m = self.magnitude() 34 | if m != 0: 35 | return Vetor(self.x / m, self.y / m) 36 | return Vetor(self.x, self.y) 37 | 38 | def limitar(self, maxi): 39 | if self.magnitude() > maxi: 40 | self.normalizar() 41 | self.multiplica(maxi) 42 | 43 | 44 | def soma(self, outro): 45 | return Vetor(self.x + outro.x, self.y + outro.y) 46 | 47 | def subtrai(self, outro): 48 | return Vetor(self.x - outro.x, self.y - outro.y) 49 | 50 | def multiplica(self, escalar): 51 | return Vetor(self.x * escalar, self.y * escalar) 52 | 53 | def divide(self, escalar): 54 | if escalar != 0: 55 | return Vetor(self.x / escalar, self.y / escalar) 56 | return Vetor(0, 0) 57 | 58 | def angulo_direcao(self): 59 | self.direcao = (math.atan2(self.y, self.x) / math.pi) * 180 60 | return self.direcao 61 | 62 | 63 | def vetor_distancia(vetor_a, vetor_b): 64 | return Vetor(-(vetor_a[2]) + (vetor_b[2]), -(vetor_a[1]) + (vetor_b[1])) 65 | 66 | 67 | def angulo_direcao(vetor): 68 | direcao = (math.atan2(vetor.y, vetor.x) / math.pi) * 180 69 | return round(direcao, 2) 70 | 71 | --------------------------------------------------------------------------------