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Code Issues Releases Wiki Activity

cleanup

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kepler155c@gmail.com
2017-09-18 14:46:46 -04:00
parent 36fd5ca073
commit 00fe2c9989
5 changed files with 26 additions and 8 deletions
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20
sys/extensions/tgps.lua
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@@ -34,9 +34,25 @@ function turtle.setGPSHome()
local config = { }
Config.load('gps', config)
if turtle.enableGPS() then
if turtle.point.gps then
config.home = turtle.point
Config.update('gps', config)
turtle.gotoPoint(turtle.point)
else
local pt = GPS.getPoint()
if pt then
local originalHeading = turtle.point.heading
local heading = GPS.getHeading()
if heading then
local turns = (turtle.point.heading - originalHeading) % 4
pt.heading = (heading - turns) % 4
config.home = pt
Config.update('gps', config)
pt = GPS.getPoint()
pt.heading = heading
turtle.setPoint(pt, true)
turtle.gotoPoint(config.home)
end
end
end
end