Initial commit

maneuvers/tugship.py

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+from time import sleep
+
+import numpy as np
+import numpy.linalg as la
+
+# from docking import *
+from utils import magnitude
+from rendezvous import maneuver_to_rendezvous
+from approach import maneuver_to_approach
+from docking import dock_ship
+import krpc
+
+
+conn = krpc.connect()
+print(conn.krpc.get_status().version)
+
+
+def undock(conn):
+    print('Undocking')
+    sc = conn.space_center
+    v = sc.active_vessel
+    target = sc.target_vessel
+
+    decouplers = [d for d in v.parts.decouplers if d.staged and not d.decoupled]
+
+    tugship = decouplers[-1].decouple()
+    sc.active_vessel = tugship
+    v = sc.active_vessel
+    v.name = "Tugship " + target.name
+    sc.target_vessel = target
+
+    v.control.throttle = 0
+
+    v.control.rcs = True
+    v.control.up = -1
+    sleep(5)
+    v.control.up = 0
+
+    v.control.solar_panels = True
+    v.parts.engines[0].active = True
+    print('Undocking sequence finished')
+
+
+sc = conn.space_center
+vessel = sc.active_vessel
+target = sc.target_vessel
+
+if vessel.name == "TugGrape":
+    if target is None:
+        print("Must set a target")
+        exit(1)
+
+    undock(conn)
+
+maneuver_to_rendezvous(conn, vessel, target)
+
+reference_frame = sc.ReferenceFrame.create_relative(target.reference_frame, rotation=(1., 0., 0., 0.))
+
+if magnitude(vessel.position(vessel.reference_frame) - np.array(target.position(vessel.reference_frame))) < 1000:
+    maneuver_to_approach(conn, reference_frame)
+
+docking_part = vessel.parts.root.children[0].children[10].children[0].children[0].children[0].children[0]
+dock_ship(conn, vessel, docking_part, reference_frame)
+
+conn.close()