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[AND] Autopilot (BETA)

It`s rover autopilot.
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[Main function and target:]

-Main function of this script it`s traveling ore or components or somthing from A to B and back.
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[COMMANDS] (Arguments):

-"Stop" - stops autopilot.
-"Run On Route:<Name>" - run`s autopilot on route.
-"Next Roundrobin" - start`s roundrobin mode or skip current route for roundrobin.
-"Start Record" - start`s recording of route.
-"Stop Record" - stop`s recording of route and save him.
-"Export Route To:<Name>" - export`s route.
-"Export Route Rev To:<Name>" - export`s route int reverse mode.
-"Save" - save`s current route.
-"Add Connetor" - add`s connector into route.
-"Clear" - clear`s current route.
-"Add Raw Point" - add`s point into route.

<Name> - a part of LCD name.
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[INSTALLING]:

[BLOCKS]:

1x Programm block;
2x LCDs
1x Sensor
1x Rover =)
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[INSTRUCTION]:

1) Place a programm block and copy into it this script.
2) Place a LCD with tag "[STATUS]".
3) Place a LCD with tag "[POINTS]".
4) Add tag "[CONTR]" for cockpit or remote control.
5) Place a sensot with tag "[DETEC]" on forward of your rover and the mood at your discretion (Sensor must detect grids and asteroids)
6)Add tag "[CONNEC]" for connector if you need it.
7) Recompile script.
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[USER OPTIONS]:

//======= USER OPTIONS =========
const double ColisionRadius = 30; // In meters (Size of colision sphere)
const float MaxAngle = 0.8f; // In radians (Steering angle)
const float MaxSpeed = 180; // In km/h (Max speed of rover)
const int Delay = 60; // Time delay in seconds for roundrobin (Time of final stops (For roundrobin mode))
// ========================================

[TEXT GUIDE]:

1) Creating a route.

-Use a "Start Record", "Add Raw Point", "Stop Record" for creating a route.
-If you need connector in the route, use "Add Connector" and "Save" commands for it.

2)Exporting a route.

-Add some LCD`s for it.
-Recompile script (Don`t worry! "Save" command save`s everything =) ).
-Use "Export Route To:<Name>" and "Export Route Rev To:<Name>" for export.

3) Roundrobin.

-Add in custom data of programmable block list of routes.

Example of custom data of programmable block:
-----------------------------------------------
Test1
Test2
Test3
Test4
-----------------------------------------------

-Start roundrobin using "Next Roundrobin".
-Now this mode needs the strict order of the routes.

4) One way mode.

-Use "Run On Route:<Name>" for one way mode.

[SOME RULES]:

-The route should be as simple as possible.
-The connectors must be at the same height.
-The last point on the route must be in a straight line from the connector.
-The maximum distance from the last point to the connector is 500m.
-The recommended distance from the last route point to the connector is 200-300m.
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[CHANGELOG]:
-Added turret aiming
-Fixed roundrobin
-Added door control

[DOOR CONTROL]
-Doors with tag "[DOOR]" will be closed while driving and open at stops.

[TURRET AIMING]:
-Place turret with tag [AIM]
-Recompile script

If turret find enemy - rover starts going to enemy and destroy him. After rover come back to route.

[VALID CONNECTOR ORIENTATIONS]:

-Forward - recomended.
-Bacward.
-Down - not tested.