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Code Issues Releases Wiki Activity

relative-gps coord system

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This commit is contained in:
kepler155c@gmail.com
2017-05-24 19:48:48 -04:00
parent 64146f8625
commit e6ee432997
11 changed files with 62 additions and 57 deletions
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27
sys/extensions/tgps.lua
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@@ -5,10 +5,15 @@ end
require = requireInjector(getfenv(1))
local GPS = require('gps')
function turtle.enableGPS()
local pt = GPS.getPointAndHeading()
function turtle.enableGPS(timeout)
if turtle.getState().coordSystem == 'GPS' then
return turtle.point
end
local pt = GPS.getPointAndHeading(timeout)
if pt then
turtle.setPoint(pt)
turtle.getState().coordSystem = 'GPS'
return true
end
end
@@ -16,25 +21,15 @@ end
function turtle.gotoGPSHome()
local homePt = turtle.loadLocation('gpsHome')
if homePt then
local pt = GPS.getPointAndHeading()
if pt then
turtle.setPoint(pt)
if turtle.enableGPS() then
turtle.pathfind(homePt)
end
end
end
function turtle.setGPSHome()
local GPS = require('gps')
local pt = GPS.getPoint()
if pt then
turtle.setPoint(pt)
pt.heading = GPS.getHeading()
if pt.heading then
turtle.point.heading = pt.heading
turtle.storeLocation('gpsHome', pt)
turtle.gotoPoint(pt)
end
if turtle.enableGPS() then
turtle.storeLocation('gpsHome', turtle.point)
turtle.gotoPoint(tturtle.point)
end
end