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1-
local robot = require("robot")
1+
local movement={}
2-
2+
local robot = require("robot")

3-
-- Angles: 1=North; 2=West; 3=South; 4=East (Relative to robot placement! Faceing when placed will allways be North!).
3+
 

4-
local angle = 1
4+
-- Angles: 1=North; 2=West; 3=South; 4=East (Relative to robot placement! Faceing when placed will allways be North!).

5-
5+
local angle = 1

6-
-- tries to move the Robot forward by @times times, if there is a obstacle, swing the current Tool.
6+
 

7-
function tryForward(times)
7+
-- tries to move the Robot forward by @times times, if there is a obstacle, swing the current Tool.

8-
  for i=1, times do
8+
function movement.tryForward(times)

9-
    while not robot.forward() do
9+
  for i=1, times do

10-
      robot.swing()
10+
    while not robot.forward() do

11-
    end
11+
      robot.swing()

12-
  end
12+
    end

13-
end
13+
  end

14-
14+
end

15-
-- tries to move the Robot upwards by @times times, if there is an obstacle, swing the current Tool.
15+
 

16-
function tryUp(times)
16+
-- tries to move the Robot upwards by @times times, if there is an obstacle, swing the current Tool.

17-
  for i=1, times do
17+
function movement.tryUp(times)

18-
    while not robot.up() do
18+
  for i=1, times do

19-
      robot.swingUp()
19+
    while not robot.up() do

20-
    end
20+
      robot.swingUp()

21-
  end
21+
    end

22-
end
22+
  end

23-
23+
end

24-
--tries to move the Robot downwards by @times times, if there is an obstacle, swing the current Tool.
24+
 

25-
function tryDown(times)
25+
--tries to move the Robot downwards by @times times, if there is an obstacle, swing the current Tool.

26-
  for i=1, times do
26+
function movement.tryDown(times)

27-
    while not robot.down() do
27+
  for i=1, times do

28-
      robot.swingDown()
28+
    while not robot.down() do

29-
    end
29+
      robot.swingDown()

30-
  end
30+
    end

31-
end
31+
  end

32-
32+
end

33-
-- turns the robot by @degree times in the Direction of @dir<1=Left; 2=Right>
33+
 

34-
-- Possible degrees: 1=90°; 2=180°; 3=270°; 4=360°; 5=450°...
34+
-- turns the robot by @degree times in the Direction of @dir<1=Left; 2=Right>

35-
-- keeps track of the robots current Angle.
35+
-- Possible degrees: 1=90°; 2=180°; 3=270°; 4=360°; 5=450°...

36-
function turn(degree, dir)
36+
-- keeps track of the robots current Angle.

37-
  local Degree = degree
37+
function movement.turn(degree, dir)

38-
  local Direction = dir
38+
  local Degree = degree

39-
  for i=1, Degree do
39+
  local Direction = dir

40-
    if Direction==1 then
40+
  for i=1, Degree do

41-
      robot.turnLeft()
41+
    if Direction==1 then

42-
      if angle<4 then
42+
      robot.turnLeft()

43-
        angle=angle+1
43+
      if angle<4 then

44-
      else
44+
        angle=angle+1

45-
        angle=1
45+
      else

46-
      end
46+
        angle=1

47-
    end
47+
      end

48-
    if Direction==2 then
48+
    end

49-
      robot.turnRight()
49+
    if Direction==2 then

50-
      if angle>1 then
50+
      robot.turnRight()

51-
        angle=angle-1
51+
      if angle>1 then

52-
      else
52+
        angle=angle-1

53-
        angle=4
53+
      else

54-
      end
54+
        angle=4

55-
    end
55+
      end

56-
  end
56+
    end

57-
  print(angle)
57+
  end

58-
end
58+
  print(angle)

59-
59+
end

60-
60+
 

61-
function returnHome(posX, posY, posZ, pointX, pointY, pointZ)
61+
 

62-
  local diffX = posX-pointX
62+
function movement.returnHome(posX, posY, posZ, pointX, pointY, pointZ)

63-
  local diffY = posY-pointY
63+
  local diffX = posX-pointX

64-
  local diffZ = posZ-pointZ
64+
  local diffY = posY-pointY

65-
  
65+
  local diffZ = posZ-pointZ

66-
  gotoY(diffY)
66+
 

67-
  sleep(1)
67+
  gotoY(diffY)

68-
  turnToAngle(4)
68+
  sleep(1)

69-
  gotoXZ(diffZ)
69+
  turnToAngle(4)

70-
  sleep(1)
70+
  gotoXZ(diffZ)

71-
  turnToAngle(3)
71+
  sleep(1)

72-
  gotoXZ(diffX)
72+
  turnToAngle(3)

73-
end
73+
  gotoXZ(diffX)

74-
  
74+
end

75-
-- Goes forward a given amount of @times. Warning! Does not set the Angle automatically!
75+
 

76-
local function gotoXZ(times)
76+
-- Goes forward a given amount of @times. Warning! Does not set the Angle automatically!

77-
  if times==0 then
77+
local function gotoXZ(times)

78-
    return true
78+
  if times==0 then

79-
  elseif times>0 then
79+
    return true

80-
    tryForward(times)
80+
  elseif times>0 then

81-
    return true
81+
    movement.tryForward(times)

82-
  end
82+
    return true

83-
end
83+
  end

84-
84+
end

85-
-- Goes up or down a set amount of @times, depending on if @times is pos. or neg.
85+
 

86-
local function gotoY(times)
86+
-- Goes up or down a set amount of @times, depending on if @times is pos. or neg.

87-
  if times==0 then
87+
local function gotoY(times)

88-
    return true
88+
  if times==0 then

89-
  elseif times>0 then
89+
    return true

90-
    tryDown(times)
90+
  elseif times>0 then

91-
    return true
91+
    movement.tryDown(times)

92-
  elseif times<0 then
92+
    return true

93-
    local _times = (-1*times)
93+
  elseif times<0 then

94-
    tryUp(_times)
94+
    local _times = (-1*times)

95-
    return true
95+
    movement.tryUp(_times)

96-
  end
96+
    return true

97-
end
97+
  end

98-
98+
end

99-
-- Turns form the current Angle towards @target Angle.
99+
 

100-
local function turnToAngle(target)
100+
-- Turns form the current Angle towards @target Angle.

101-
  if angle~=nil then
101+
local function turnToAngle(target)

102-
    if angle~=target then
102+
  if angle~=nil then

103-
      if angle>target then
103+
    if angle~=target then

104-
        turn((angle-target), 2)
104+
      if angle>target then

105-
        return true
105+
        movement.turn((angle-target), 2)

106-
      end
106+
        return true

107-
      if angle<target then
107+
      end

108-
        turn((target-angle), 1)
108+
      if angle<target then

109-
        return true
109+
        movement.turn((target-angle), 1)

110-
      end
110+
        return true

111-
    else
111+
      end

112-
      return true
112+
    else

113-
    end
113+
      return true

114-
  else
114+
    end

115-
    return false
115+
  else

116-
  end
116+
    return false

117-
end
117+
  end

118-
118+
end

119-
-- Forces to set the current Angle.(Not recommended!)
119+
 

120-
function setAngle(_angle)
120+
-- Forces to set the current Angle.(Not recommended!)

121-
  angle=_angle
121+
function movement.setAngle(_angle)

122-
end
122+
  angle=_angle

123
end

124
125
return movement
        

    


            


                                


        

            



                
    

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