mirror of https://github.com/kepler155c/opus
61 lines
1.2 KiB
Lua
61 lines
1.2 KiB
Lua
local turtle = _G.turtle
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if not turtle or turtle.enableGPS then
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return
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end
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_G.requireInjector()
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local GPS = require('gps')
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local Config = require('config')
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function turtle.enableGPS(timeout)
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if turtle.point.gps then
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return turtle.point
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end
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local pt = GPS.getPointAndHeading(timeout)
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if pt then
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turtle.setPoint(pt, true)
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return turtle.point
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end
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end
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function turtle.gotoGPSHome()
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local config = { }
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Config.load('gps', config)
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if config.home then
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if turtle.enableGPS() then
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turtle.pathfind(config.home)
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end
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end
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end
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function turtle.setGPSHome()
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local config = { }
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Config.load('gps', config)
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if turtle.point.gps then
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config.home = turtle.point
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Config.update('gps', config)
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else
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local pt = GPS.getPoint()
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if pt then
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local originalHeading = turtle.point.heading
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local heading = GPS.getHeading()
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if heading then
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local turns = (turtle.point.heading - originalHeading) % 4
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pt.heading = (heading - turns) % 4
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config.home = pt
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Config.update('gps', config)
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pt = GPS.getPoint()
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pt.heading = heading
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turtle.setPoint(pt, true)
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turtle.gotoPoint(config.home)
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end
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end
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end
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end
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