mirror of
https://github.com/kepler155c/opus
synced 2024-11-05 16:36:16 +00:00
59 lines
1.2 KiB
Lua
59 lines
1.2 KiB
Lua
if not turtle or turtle.enableGPS then
|
|
return
|
|
end
|
|
|
|
requireInjector(getfenv(1))
|
|
|
|
local GPS = require('gps')
|
|
local Config = require('config')
|
|
|
|
function turtle.enableGPS(timeout)
|
|
if turtle.point.gps then
|
|
return turtle.point
|
|
end
|
|
|
|
local pt = GPS.getPointAndHeading(timeout)
|
|
if pt then
|
|
turtle.setPoint(pt, true)
|
|
return turtle.point
|
|
end
|
|
end
|
|
|
|
function turtle.gotoGPSHome()
|
|
local config = { }
|
|
Config.load('gps', config)
|
|
|
|
if config.home then
|
|
if turtle.enableGPS() then
|
|
turtle.pathfind(config.home)
|
|
end
|
|
end
|
|
end
|
|
|
|
function turtle.setGPSHome()
|
|
local config = { }
|
|
Config.load('gps', config)
|
|
|
|
if turtle.point.gps then
|
|
config.home = turtle.point
|
|
Config.update('gps', config)
|
|
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
|