diff --git a/rsiTurtle.lua b/rsiTurtle.lua
index 1ffa9330f986ed5edcf7ed7e3654a9b158d72754..800d603f7bc70a0c7b980768529b728d8a5dca89 100644
--- a/rsiTurtle.lua
+++ b/rsiTurtle.lua
@@ -26,7 +26,11 @@ function RSI_Turtle:init()
setmetatable(turtle,RSI_Turtle)
---
- -- \brief Dictionnaire pour la position (x,y,z)
+ -- \brief Dictionnaire pour la position (x,y,z).
+ -- Le système de coordonnées est celui de minecraft:
+ -- x: Avant
+ -- y: Altitude
+ -- z: Droite
turtle.pos_ = {}
turtle.pos_["x"] = 0
turtle.pos_["y"] = 0
@@ -68,7 +72,7 @@ end
---
-- \brief Déplacement parallèle au sol
-function RSI_Turtle:moveTo(x, y)
+function RSI_Turtle:moveTo2D(x, z)
--TODO: Implementer
end
@@ -83,46 +87,81 @@ end
---
-- \brief Déplacement s'assurant de rester au niveau du sol
-- escalade et descend automatiquement les pentes
-function RSI_Turtle:moveToGrounded(x, y)
+function RSI_Turtle:moveToGrounded(x, z)
--TODO: Implementer
end
---
-- \brief Déplacement parallèle au sol
+-- Ordre de déplacement: X, Z
-- \return bool Succès
-function RSI_Turtle:move(dx, dy)
+function RSI_Turtle:move2D(dx, dz)
+ local success
+
if dx >= 0
then
- self:face_(12)
+ self:face(12)
else
- self:face_(6)
+ self:face(6)
end
for i=1,dx,1
do
- self:forward()
+ success = self:forward()
+ end
+
+ if not success
+ then
+ return false
end
- if (dx <= 0 and dy >= 0) or (dx >= 0 and dy <= 0)
+ if (dx <= 0 and dz >= 0) or (dx >= 0 and dz <= 0)
then
self:turnLeft()
else
self:turnRight()
end
- for i=1,dy,1
- do
- self:forward()
+ if not success
+ then
+ return false
end
+ for i=1,dz,1
+ do
+ success = self:forward()
+ end
+
+ return success
end
---
-- \brief Déplacement dans les trois dimensions
+-- Ordre de déplacement: X, Z, Y
-- \return bool Succès
function RSI_Turtle:move(dx, dy, dz)
- --TODO: Implementer
+ local success
+
+ if (dy > 0)
+ then
+ for i=1,dy,1
+ do
+ success = self:up()
+ end
+ elseif dy < 0
+ then
+ for i=-1,dy,-1
+ do
+ success = self:down()
+ end
+ end
+
+ if (success) then
+ return self:move2D(dx, dz)
+ else
+ return false
+ end
end
@@ -130,7 +169,7 @@ end
-- \brief Déplacement s'assurant de rester au niveau du sol
-- escalade et descend automatiquement les pentes
-- \return bool Succès
-function RSI_Turtle:moveGrounded(dx, dy)
+function RSI_Turtle:moveGrounded(dx, dz)
--TODO: Implementer
end
@@ -167,15 +206,40 @@ function RSI_Turtle:forward()
if self.facing_ == 0 then
self.pos_["x"] = self.pos_["x"] + 1
elseif self.facing_ == 3 then
- self.pos_["y"] = self.pos_["y"] + 1
+ self.pos_["z"] = self.pos_["z"] + 1
elseif self.facing_ == 6 then
self.pos_["x"] = self.pos_["x"] - 1
elseif self.facing_ == 9 then
- self.pos_["y"] = self.pos_["y"] - 1
+ self.pos_["z"] = self.pos_["z"] - 1
+ end
+end
+
+---
+-- \brief Déplacement avant multiple
+-- \param distance Distance à parcourir
+-- \return bool Succès
+function RSI_Turtle:moveForward(distance)
+ local traveled = 0
+
+ while (traveled < distance) and turtle.forward()
+ do
+ traveled = traveled + 1
end
+ if self.facing_ == 0 then
+ self.pos_["x"] = self.pos_["x"] + traveled
+ elseif self.facing_ == 3 then
+ self.pos_["z"] = self.pos_["z"] + traveled
+ elseif self.facing_ == 6 then
+ self.pos_["x"] = self.pos_["x"] - traveled
+ elseif self.facing_ == 9 then
+ self.pos_["z"] = self.pos_["z"] - traveled
+ end
+
+ return (traveled == distance)
end
+
---
-- \brief Déplacement arrière
-- \return bool Succès
@@ -186,16 +250,45 @@ function RSI_Turtle:backward()
if self.facing_ == 0 then
self.pos_["x"] = self.pos_["x"] - 1
elseif self.facing_ == 3 then
- self.pos_["y"] = self.pos_["y"] - 1
+ self.pos_["z"] = self.pos_["z"] - 1
elseif self.facing_ == 6 then
self.pos_["x"] = self.pos_["x"] + 1
elseif self.facing_ == 9 then
- self.pos_["y"] = self.pos_["y"] + 1
+ self.pos_["z"] = self.pos_["z"] + 1
end
end
return result
end
+
+---
+-- \brief Déplacement arrière
+-- \param distance Distance à parcourir
+-- \return bool Succès
+function RSI_Turtle:moveBackward(distance)
+ local traveled = 0
+
+ while (traveled < distance) and turtle.back()
+ do
+ traveled = traveled + 1
+ end
+
+ if result then
+ if self.facing_ == 0 then
+ self.pos_["x"] = self.pos_["x"] - traveled
+ elseif self.facing_ == 3 then
+ self.pos_["z"] = self.pos_["z"] - traveled
+ elseif self.facing_ == 6 then
+ self.pos_["x"] = self.pos_["x"] + traveled
+ elseif self.facing_ == 9 then
+ self.pos_["z"] = self.pos_["z"] + traveled
+ end
+ end
+
+ return (traveled == distance)
+end
+
+
---
-- \brief Déplacement haut
-- \return bool Succès
@@ -203,7 +296,7 @@ function RSI_Turtle:up()
result = turtle.up()
if result then
- self.pos_["z"] = self.pos_["z"] + 1
+ self.pos_["y"] = self.pos_["y"] + 1
end
return result
end
@@ -216,7 +309,7 @@ function RSI_Turtle:down()
result = turtle.down()
if result then
- self.pos_["z"] = self.pos_["z"] - 1
+ self.pos_["y"] = self.pos_["y"] - 1
end
return result
end
@@ -264,9 +357,9 @@ end
-- \brief Descendre jusqu'Ã rencontrer le sol
-- \return bool Succès si a descendu d'au moins un bloc
function RSI_Turtle:ground()
- succes = self:down()
+ success = self:down()
while self:down() do end
- return succes
+ return success
end
diff --git a/test.lua b/test.lua
index 566f6064a60f60dae365ba2cfd5a2728fd4fea7c..dbb62d7f65c253685c69e9fc78573cde963d1868 100644
--- a/test.lua
+++ b/test.lua
@@ -22,39 +22,56 @@ print("Test de RSI_Excavatrice")
e = rsiE:init()
e:print()
-print("Test de l'API turtle")
-print(turtle.inspect())
-print(turtle.up())
+-- print("Test de l'API turtle")
+-- print(turtle.inspect())
+-- print(turtle.up())
+--
+-- print("Test RSI_Turtle:facing(3)")
+-- print(t:face(3))
+-- t:print()
+-- print("Test RSI_Turtle:facing(6)")
+-- print(t:face(6))
+-- t:print()
+-- print("Test RSI_Turtle:facing(9)")
+-- print(t:face(9))
+-- t:print()
+-- print("Test RSI_Turtle:facing(12)")
+-- print(t:face(12))
+-- t:print()
+--
+-- t:face(6)
+-- t:print()
+-- t:face(12)
+-- t:print()
+-- t:face(9)
+-- t:print()
+--
+-- print("Test mouvements;")
+-- t:face(6)
+-- t:forward()
+-- t:up()
+-- t:print()
+-- t:backward()
+-- t:down()
+-- t:print()
+--
+-- print("Test ground();")
+-- t:ground()
-print("Test RSI_Turtle:facing(3)")
-print(t:face(3))
-t:print()
-print("Test RSI_Turtle:facing(6)")
-print(t:face(6))
-t:print()
-print("Test RSI_Turtle:facing(9)")
-print(t:face(9))
-t:print()
-print("Test RSI_Turtle:facing(12)")
-print(t:face(12))
-t:print()
+print("Test move;")
+print("1;")
+t:move(0,0,5)
+print("2;")
+t:move(-3,-2,5)
+print("3;")
+t:move(2,2)
+t:ground()
-t:face(6)
-t:print()
-t:face(12)
-t:print()
-t:face(9)
-t:print()
+print("Test moveForward;")
+t:moveForward(5)
-print("Test mouvements;")
-t:face(6)
-t:forward()
-t:up()
-t:print()
-t:backward()
-t:down()
-t:print()
+print("Test move;")
+t:moveBackward(5)
-print("Test ground();")
-t:ground()
+print("Fin des tests")