From 1bdc32081892ea8a1aaec52adba70b038595f215 Mon Sep 17 00:00:00 2001
From: Harrison Deng <yunyangdeng@gmail.com>
Date: Wed, 5 May 2021 19:23:58 -0500
Subject: [PATCH] Modified moveto in preparation for circumnavigation.

---
 mineleader.lua | 17 ++++++++---------
 1 file changed, 8 insertions(+), 9 deletions(-)

diff --git a/mineleader.lua b/mineleader.lua
index d2ea94b..1757cb0 100644
--- a/mineleader.lua
+++ b/mineleader.lua
@@ -269,8 +269,7 @@ local function attemptStartTask(name, f, ...)
 	end
 	task = {name=name, func=f, args=arg}
 	taskArgs = arg
-end
-
+end	
 
 -- Actions
 
@@ -366,7 +365,7 @@ local function moveBy(delta, forward, right)
 	end
 end
 
-local function moveTo(dest, range)
+local function moveTo(dest)
     sendLog(MOVETO, "Attempting to move by (" .. dest.x .. "," .. dest.y .. "," .. dest.z .. ") (x,y,z).")
 	if position == nil or heading == nil then
 		sendLog(FAILED, "Position or heading is invalid.")
@@ -376,8 +375,8 @@ local function moveTo(dest, range)
 	local oldPos = nil
 	while not vectorEqual(dest, position) do
 		if oldPos ~= nil and vectorEqual(oldPos, position) then
-			sendLog(FAILED, "Cannot proceed to due obstacle.")
-			return
+			sendLog(FAILED, "Cannot proceed to due obstacle. XYZ being blocked: " .. xBlocked .. "," .. yBlocked .. "," .. zBlocked)
+			break
 		end
 		oldPos = vector.new(position.x, position.y, position.z);
 		if position.x ~= dest.x then
@@ -385,13 +384,13 @@ local function moveTo(dest, range)
 				sendLog(FAILED, "Unable to orient for X axis.")
 				return
 			end
-			attemptMoveForward()
+			xblocked = attemptMoveForward()
 		end
 		if position.y ~= dest.y then
 			if dest.y - position.y > 0 then
-				attemptMoveUp()
+				yBlocked = attemptMoveUp()
 			else
-				attemptMoveDown()
+				yBlocked = attemptMoveDown()
 			end
 		end
 		if position.z ~= dest.z then
@@ -399,7 +398,7 @@ local function moveTo(dest, range)
 				sendLog(FAILED, "Unable to orient for Z axis.")
 				return
 			end
-			attemptMoveForward()
+			zBlocked = attemptMoveForward()
 		end
 	end
 end