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Goto

Oeed Dec 18th, 2014 (edited) 172 Never
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  1. local hx = 771
  2. local hy = 65
  3. local hz = -1345
  4.  
  5. local tArgs = {...}
  6.  
  7. if #tArgs ~= 3 then
  8.   print('Usage: goto <x> <y> <z>')
  9.   return
  10. end
  11.  
  12. function location()
  13.   local x, y, z = gps.locate(4)
  14.   if not x then
  15.     error('Could not find location!')
  16.   else
  17.     return x, y, z
  18.   end
  19. end
  20.  
  21. function distance(x, y, z)
  22.   local _x, _y, _z = location()
  23.   local dx = x - _x
  24.   local dy = y - _y
  25.   local dz = z - _z
  26.   return dx, dy, dz
  27. end
  28.  
  29. local dir = {
  30.   n = 1,
  31.   e = 2,
  32.   s = 3,
  33.   w = 4
  34. }
  35.  
  36. function move(d)
  37.   if d == 'up' then
  38.     if not turtle.up() then
  39.       turtle.digUp()
  40.       turtle.up()
  41.     end
  42.   elseif d == 'down' then
  43.     if not turtle.down() then
  44.       turtle.digDown()
  45.       turtle.down()
  46.     end
  47.   elseif d == 'foward' then
  48.     if not turtle.forward() then
  49.       turtle.dig()
  50.       turtle.forward()
  51.     end
  52.   elseif d == 'back' then
  53.     if not turtle.back() then
  54.       turtle.turnLeft()
  55.       turtle.turnLeft()
  56.       turtle.dig()
  57.       turtle.turnLeft()
  58.       turtle.turnLeft()
  59.       turtle.back()
  60.     end
  61.   end
  62. end
  63.  
  64. function direction()
  65.   local x, y, z = location()
  66.   move('forward')
  67.   local _x, _y, _z = location()
  68.   move('back')
  69.   if _x > x then
  70.     return dir.e
  71.   elseif x > _x then
  72.     return dir.w
  73.   elseif _z > z then
  74.     return dir.s
  75.   elseif z > _z then
  76.     return dir.n
  77.   else
  78.     error('Unknown direction.')
  79.   end
  80. end
  81.  
  82. function turn(d)
  83.   local turns = direction() - d
  84.   if turns == 0 then
  85.     return
  86.   elseif turns > 0 then
  87.     for i = 1, turns do
  88.       turtle.turnLeft()
  89.     end
  90.   else
  91.     for i = 1, math.abs(turns) do
  92.       turtle.turnRight()
  93.     end
  94.   end
  95. end
  96.  
  97. function goto(x, y, z)
  98.   local dx, dy, dz = distance(x, y, z)
  99.   if dx > 0 then
  100.     turn(dir.e)
  101.   elseif dx < 0  then
  102.     turn(dir.w)
  103.   end
  104.  
  105.   for i = 1, math.abs(dx) do
  106.     move('forward')
  107.   end
  108.  
  109.   if dz > 0 then
  110.     turn(dir.s)
  111.   elseif dz < 0 then
  112.     turn(dir.n)
  113.   end
  114.  
  115.   for i = 1, math.abs(dz) do
  116.     move('forward')
  117.   end
  118.  
  119.   local f = 'up'
  120.   if dy < 0 then
  121.     f = 'down'
  122.   end
  123.  
  124.   for i = 1, math.abs(dy) do
  125.     move(f)
  126.   end
  127. end
  128.  
  129. print('Going to target!')
  130. local tx = tonumber(tArgs[1])
  131. local ty = tonumber(tArgs[2])
  132. local tz = tonumber(tArgs[3])
  133. local cx, cy, cz = location()
  134. print('Climbing to cruise height')
  135. goto(cx, 255, cz)
  136. print('Transversing to target')
  137. goto(tx, 255, tz)
  138. print('Descending')
  139. goto(tx, ty, tz)
  140. print('Arrived. Press any key when done')
  141. read()
  142. print('Climbing to cruise height')
  143. goto(tx, 255, tz)
  144. print('Returning home')
  145. goto(hx, 255, hz)
  146. print('Landing')
  147. goto(hx, hy, hz)
  148. print('Done!')
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