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Potentially fixed heading issue.

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This commit is contained in:
Harrison Deng 2021-05-09 13:15:50 -05:00
parent 098343f7fd
commit 6d3541a1c6
1 changed files with 49 additions and 16 deletions
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65
mineleader.lua
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@ -325,9 +325,17 @@ local function determineHeading()
sendLog(HEADING, "Heading obtained. \nForward: " .. textutils.serialiseJSON(heading) .. "\nRight direction: " .. textutils.serialiseJSON(rightAxis))
end
local function moveBy(delta, forward, right)
local function moveBy(delta, relative)
sendLog(MOVEBY, "Attempting to move by (" .. delta.x .. "," .. delta.y .. "," .. delta.z .. ") (x,y,z).")
-- x first
local forward
local right
if relative then
forward = relHeading
right = relRightAxis
else
forward = heading
right = rightAxis
end
if delta.x ~= 0 then
sendLog(MOVEBY, "Moving on x axis by: " .. delta.x)
orient(vector.new(delta.x, 0, 0):normalize(), forward, right)
@ -367,7 +375,16 @@ local function moveBy(delta, forward, right)
end
end
local function moveTo(dest)
local function moveTo(dest, relative)
local forward, right
if relative then
forward = relHeading
right = relRightAxis
else
forward = heading
right = rightAxis
end
dest = dest:round()
sendLog(MOVETO, "Attempting to move by (" .. dest.x .. "," .. dest.y .. "," .. dest.z .. ") (x,y,z).")
if position == nil or heading == nil then
@ -377,27 +394,33 @@ local function moveTo(dest)
local xBlocked, yBlocked, zBlocked = false, false, false
local oldPos = nil
while not vectorEqual(dest, position) do
if oldPos ~= nil and vectorEqual(oldPos, position) then
local pos
if relative then
pos = position
else
pos = relativePos
end
if oldPos ~= nil and vectorEqual(oldPos, pos) then
sendLog(FAILED, "Cannot proceed to due obstacle. XYZ being blocked: " .. tostring(xBlocked) .. "," .. tostring(yBlocked) .. "," .. tostring(zBlocked))
break
end
oldPos = vector.new(position.x, position.y, position.z);
oldPos = vector.new(pos.x, pos.y, pos.z);
if position.x ~= dest.x then
if not orient(vector.new(dest.x - position.x, 0, 0):normalize(), heading, rightAxis) then
if not orient(vector.new(dest.x - pos.x, 0, 0):normalize(), forward, right) then
sendLog(FAILED, "Unable to orient for X axis.")
return
end
xblocked = attemptMoveForward()
end
if position.y ~= dest.y then
if dest.y - position.y > 0 then
if dest.y - pos.y > 0 then
yBlocked = attemptMoveUp()
else
yBlocked = attemptMoveDown()
end
end
if position.z ~= dest.z then
if not orient(vector.new(0, 0, dest.z - position.z):normalize(), heading, rightAxis) then
if pos.z ~= dest.z then
if not orient(vector.new(0, 0, dest.z - pos.z):normalize(), forward, right) then
sendLog(FAILED, "Unable to orient for Z axis.")
return
end
@ -407,10 +430,19 @@ local function moveTo(dest)
end
local function quarry(x, y, z, forward, right, pattern)
local function quarry(x, y, z, relative, pattern)
x = tonumber(x)
y = tonumber(y)
z = tonumber(z)
local forward;
local right;
if relative then
forward = relHeading
right = relRightAxis
else
forward = heading
right = rightAxis
end
sendLog(QUARRY, "Starting quarry of (x length,depth,z length): " .. x .. "," .. y .. "," .. z .. " with a not pattern of: " .. pattern)
for yDelta=1,math.abs(y) do
if (y > 0) then
@ -436,6 +468,7 @@ local function quarry(x, y, z, forward, right, pattern)
for xDelta=1,math.abs(x) do
for zDelta=1,math.abs(z) do
print("X,Z: " .. xDelta .. "," .. zDelta)
print("heading, right heading: " .. forward .. ", " .. right)
local success = true;
if reverseTrip then
orient(vector.new(0,0, -z), forward, right)
@ -506,11 +539,11 @@ local function listen()
if heading ~= nil then
print("Using actual coordinates.")
sendLog(MOVETO, "Using actual coordinates to move.")
attemptStartTask(MOVETO, moveTo, vector.new(x,y,z), heading, rightAxis)
attemptStartTask(MOVETO, moveTo, vector.new(x,y,z), false)
else
print("Using relative coordinates.")
sendLog(MOVETO, "Using relative coordinates to move.")
attemptStartTask(MOVETO, moveTo, vector.new(x,y,z), relHeading, relRightAxis)
attemptStartTask(MOVETO, moveTo, vector.new(x,y,z), true)
end
elseif data["request"] == MOVEBY then
local x = data["content"][1]
@ -519,11 +552,11 @@ local function listen()
if heading ~= nil then
print("Using actual coordinates.")
sendLog(MOVEBY, "Using actual coordinates to move.")
attemptStartTask(MOVEBY, moveBy, vector.new(x,y,z), heading, rightAxis)
attemptStartTask(MOVEBY, moveBy, vector.new(x,y,z), false)
else
print("Using relative coordinates.")
sendLog(MOVEBY, "Using relative coordinates to move.")
attemptStartTask(MOVEBY, moveBy, vector.new(x,y,z), relHeading, relRightAxis)
attemptStartTask(MOVEBY, moveBy, vector.new(x,y,z), true)
end
elseif data["request"] == STATUS then
status = {
@ -550,11 +583,11 @@ local function listen()
determineHeading()
elseif data["request"] == QUARRY then
if heading ~= nil then
quarry(data["content"][1], data["content"][2], data["content"][3], heading, rightAxis, notPattern)
quarry(data["content"][1], data["content"][2], data["content"][3], false, notPattern)
sendLog(QUARRY, "Using actual position for quarrying.")
else
sendLog(QUARRY, "Using relative position for quarrying.")
quarry(data["content"][1], data["content"][2], data["content"][3], relHeading, relRightAxis, notPattern)
quarry(data["content"][1], data["content"][2], data["content"][3], true, notPattern)
end
end
end