vecMove

----------------vecMove API----------------------
-----Move your turtle using vectoring-------------

--------------------------------Functions-----------------------------------
---------getCoords()-----------------------------
--load last know coordinates (dropped by detHead API)
function getCoords()
    local coordFile=fs.open("/nav/gpsCoord","r")
    local coordData=coordFile.readAll()
    coordFile.close()
    local coordTbl=textutils.unserialize(coordData)
    local x=coordTbl[1]
    local y=coordTbl[2]
    local z=coordTbl[3]
    local d=coordTbl[4]
    print (x,", ", y,", ", z,", ", d)
    return x, y, z, d
end

----------checkPos-------------------------
--gets the current position and builds a displacement vector
function checkPos(Dest)
  currPos=vector.new(gps.locate())
  disp=Dest-currPos
  --term.clear()
  --term.setCursorPos(1,1)

  --output to for validation
  print ("Destination: ",Dest)
  print ("Current Position: ",currPos)
  print ("Displacement: ",disp)
  print ("Movement map:")
  --For future use:  determine is horizontal displacement is resolved
  local hDist=math.abs(disp.x)+math.abs(disp.z)
  return disp
end
-----------setHead------------------
--requires the current heading and target heading.
--Then spins the turtle right until the target is reached
function setHead(current, target)
   repeat
    print("Current: ", current,". Target: ", target)
    if current~=target then
      turtle.turnRight()
      current=current+1
      if current==4 then current=0 end  --Resets to South after East is reached
    end
    until current==target
  print("Heading is now ", dirTbl[current])
  return true, current
end

----------shellGo-----------
--moves the turtle with go command;
--keeps program from producing errors
--and/or breaking unexpected obstacles like my chests.
--Turtle will hold position until the
--obstacle is removed manually, or program is terminated.
function shellGo(distance)
  shell.run("go", "forward", distance)
end
----------updatePos----------
--runs the detHead API to refresh the
--gpsCoord (last known location) file with changes
function updatePos(_p1)
    local origin=_p1.x," ",_p1.y," ",_p1.z
    local _p2=vector.new(gps.locate())
    local target=_p2.x," ",_p2.y," ",_p2.z
    shell.run("detHead", origin, target)
    return true, _p2
end

--------------------------------Process----------------------------------
local _tArgs={...}
rednet.open("right")

--load directional DB--
local dirFile=fs.open("/nav/dir.tab","r")
local dirData=dirFile.readAll()
dirFile.close()
dirTbl=textutils.unserialize(dirData)

--Input Destination--
if #_tArgs~=3 then
  print ("Usage: vecMove.2 <x y z>")
  return
end

local strDestx=_tArgs[1]
local strDesty=_tArgs[2]
local strDestz=_tArgs[3]

local Dest=vector.new(strDestx, strDesty, strDestz)

local x, y, z, d=getCoords()

local disp=checkPos(Dest)

--EAST---------------------------
  if disp.x>0 then
    local success, dir=setHead(d,3)
    print ("Turned east?  ",success," Direction: ", dirTbl[dir])
    if success==true then
      shellGo(disp.x)
      d=dir
    else
      print ("Set East Heading failed")
    end
--WEST----------------------------
  elseif disp.x<0 then
    local success, dir=setHead(d,1)
    print ("Turned west? ", success, "Direction: ", dirTbl[dir])
    if success==true then
      shellGo(math.abs(disp.x))
      d=dir
    else
      print ("Set West Heading failed")
    end
  elseif disp.x==0 then
    print ("X axis is resolved")
  else
    print ("X Movement Error!")
  end

    local verPosUpdate, currPos=updatePos(currPos)
  checkPos(Dest)

--SOUTH-------------------------------
  if disp.z>0 then
    local success, dir=setHead(d,0)
    print ("Turned south? ", success, "Direction: ", dirTbl[dir])
    if success==true then
      shellGo(disp.z)
      d=dir
    else
      print ("Set South Heading failed")
    end
--NORTH-------------------------------
  elseif disp.z<0 then
    local success, dir=setHead(d,2)
    print ("Turned north? ", success, "Direction: ", dirTbl[dir])
    if success==true then
      shellGo(math.abs(disp.z))
      d=dir
    else
      print ("Set North Heading failed")
    end
  elseif disp.z==0 then
    print ("Z axis is resolved")
    else
    print ("Set Z heading failed")
  end
  print("made it through Z")
local verPosUpdate, currPos=updatePos(currPos)
checkPos(Dest)

--  checkPos(Dest)
  print ("y displacement", disp.y)
  if disp.y>0 then
    shell.run("go", "up", disp.y)
  else if disp.y<0 then
    shell.run("go", "down", math.abs(disp.y))
  end
  --  checkPos(Dest)
end
--end
rednet.close("right")