launch cactus

1 files changed, 38 insertions, 2 deletions

diff --git a/cactus.lua b/cactus.lua
index 756dd89..8e0e887 100644
--- a/cactus.lua
+++ b/cactus.lua
@@ -17,5 +17,41 @@ local function ensure_scanner() return error("aaa") end
 
 assert(ensure_modem())
 
-local w = vector.new(gps.locate())
-print(w)
+local POS = vector.new(gps.locate())
+local function get_facing()
+	while turtle.detect() turtle.turnRight() end
+	turtle.forward()
+	local newpos = vector.new(gps.locate())
+	turtle.back()
+	return newpos - POS
+end
+local FACING = get_facing()
+
+local function moveby_y(delta)
+	local fn = turtle.up
+	if delta < 0 then fn = turtle.down  delta = -delta  end
+	for i=1,delta do fn() end
+end
+
+local function rotatev(v,nq)
+	-- rotates v by n quarters
+	nq = nq%4
+	for i = 1,nq do
+		v.x,v.z = -v.z,v.x
+	end
+	return v
+end
+
+local v = vector.new(1,0,0)
+for i=1,4 do print(i,rotatev(v,i)) end
+
+local function moveby_xz(dv)
+	-- y component of dv is ignored
+
+
+
+
+
+local datum = vector.new(-18, 128, -1837)
+local dx = w-datum
+moveBy(dx)