Initial commit

maneuvers/utils.py

@@ -0,0 +1,68 @@
+from time import time, sleep
+
+import numpy as np
+
+
+def execute_node(conn):
+    ne = conn.mech_jeb.node_executor
+    ne.execute_all_nodes()
+
+    with conn.stream(getattr, ne, "enabled") as enabled:
+        enabled.rate = 1
+        with enabled.condition:
+            while enabled():
+                enabled.wait()
+
+
+def magnitude(vector):
+    return np.linalg.norm(vector)
+
+
+THROTTLE = .1
+
+
+def kill_relative_velocity(conn, vessel, reference_frame):
+    mj = conn.mech_jeb
+    sa = mj.smart_ass
+
+    vessel.control.throttle = 0
+    print("Killing relative velocity")
+    while magnitude(vessel.velocity(reference_frame)) > .05:
+        sa.autopilot_mode = mj.SmartASSAutopilotMode.relative_minus
+        sa.update(False)
+        while magnitude(vessel.angular_velocity(reference_frame)) > .1:
+            sleep(.1)
+
+        vessel.control.throttle = THROTTLE if magnitude(vessel.velocity(reference_frame)) > 1 else THROTTLE / 10
+        current_speed = magnitude(vessel.velocity(reference_frame))
+        previous_speed = current_speed
+        while current_speed <= previous_speed:
+            sleep(.1)
+            previous_speed = current_speed
+            current_speed = magnitude(vessel.velocity(reference_frame))
+
+        vessel.control.throttle = 0
+
+    print("Relative velocity killed")
+    sa.autopilot_mode = mj.SmartASSAutopilotMode.off
+    sa.update(False)
+
+
+def correct_course(conn, vessel, waypoint, reference_frame):
+    waypoint = np.array(conn.space_center.transform_position(tuple(waypoint), reference_frame, vessel.reference_frame))
+
+    waypoint_x = round(waypoint[0], 0)
+    if waypoint_x < 0:
+        vessel.control.right = -.1
+    elif waypoint_x > 0:
+        vessel.control.right = .1
+    else:
+        vessel.control.right = 0
+
+    waypoint_z = round(waypoint[2], 0)
+    if waypoint_z < 0:
+        vessel.control.up = .1
+    elif waypoint_z > 0:
+        vessel.control.up = -.1
+    else:
+        vessel.control.up = 0