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Changed return command to extend rotateTo command

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This commit is contained in:
Robert 2013-12-26 13:55:51 -05:00
parent 54d39e7901
commit 8bceaab70b
3 changed files with 16 additions and 31 deletions
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10
src/main/java/com/builtbroken/assemblyline/armbot/TileEntityArmbot.java
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@ -21,7 +21,9 @@ import com.builtbroken.assemblyline.ALRecipeLoader;
import com.builtbroken.assemblyline.api.IArmbot; import com.builtbroken.assemblyline.api.IArmbot;
import com.builtbroken.assemblyline.api.coding.IProgram; import com.builtbroken.assemblyline.api.coding.IProgram;
import com.builtbroken.assemblyline.api.coding.ProgramHelper; import com.builtbroken.assemblyline.api.coding.ProgramHelper;
import com.builtbroken.assemblyline.armbot.command.TaskDrop;
import com.builtbroken.assemblyline.armbot.command.TaskGOTO; import com.builtbroken.assemblyline.armbot.command.TaskGOTO;
import com.builtbroken.assemblyline.armbot.command.TaskGrabItem;
import com.builtbroken.assemblyline.armbot.command.TaskReturn; import com.builtbroken.assemblyline.armbot.command.TaskReturn;
import com.builtbroken.assemblyline.armbot.command.TaskRotateBy; import com.builtbroken.assemblyline.armbot.command.TaskRotateBy;
import com.builtbroken.assemblyline.armbot.command.TaskRotateTo; import com.builtbroken.assemblyline.armbot.command.TaskRotateTo;
@ -69,9 +71,11 @@ public class TileEntityArmbot extends TileEntityAssembly implements IMultiBlock,
super(20); super(20);
programHelper = new ProgramHelper(this).setMemoryLimit(20); programHelper = new ProgramHelper(this).setMemoryLimit(20);
Program program = new Program(); Program program = new Program();
program.setTaskAt(0, 0, new TaskRotateTo(90, 0)); program.setTaskAt(0, 0, new TaskDrop());
program.setTaskAt(0, 1, new TaskReturn()); program.setTaskAt(0, 1, new TaskRotateTo(180, 0));
program.setTaskAt(0, 2, new TaskGOTO(0, 0)); program.setTaskAt(0, 2, new TaskGrabItem());
program.setTaskAt(0, 3, new TaskReturn());
program.setTaskAt(0, 4, new TaskGOTO(0, 0));
programHelper.setProgram(program); programHelper.setProgram(program);
} }

28
src/main/java/com/builtbroken/assemblyline/armbot/command/TaskReturn.java
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@ -1,36 +1,12 @@
package com.builtbroken.assemblyline.armbot.command; package com.builtbroken.assemblyline.armbot.command;
import com.builtbroken.assemblyline.armbot.TaskBaseArmbot;
import com.builtbroken.assemblyline.armbot.TaskBaseProcess; import com.builtbroken.assemblyline.armbot.TaskBaseProcess;
public class TaskReturn extends TaskBaseArmbot public class TaskReturn extends TaskRotateTo
{ {
public static final float IDLE_ROTATION_PITCH = 0;
public static final float IDLE_ROTATION_YAW = 0;
private TaskRotateTo rotateToCommand;
public TaskReturn() public TaskReturn()
{ {
super("Return"); super("Return", 0, 0);
}
@Override
public ProcessReturn onUpdate()
{
if (this.rotateToCommand == null)
{
this.rotateToCommand = new TaskRotateTo(0, 0);
this.rotateToCommand.setProgram(this.program);
this.rotateToCommand.onMethodCalled();
}
return this.rotateToCommand.onUpdate();
}
@Override
public void terminated()
{
this.rotateToCommand.terminated();
} }
@Override @Override

9
src/main/java/com/builtbroken/assemblyline/armbot/command/TaskRotateTo.java
View file

@ -26,7 +26,12 @@ public class TaskRotateTo extends TaskBaseArmbot
public TaskRotateTo(int yaw, int pitch) public TaskRotateTo(int yaw, int pitch)
{ {
super("RotateTo"); this("RotateTo", yaw, pitch);
}
public TaskRotateTo(String string, int yaw, int pitch)
{
super(string);
this.args.add(new ArgumentIntData("yaw", yaw, 360, 0)); this.args.add(new ArgumentIntData("yaw", yaw, 360, 0));
this.args.add(new ArgumentIntData("pitch", pitch, 360, 0)); this.args.add(new ArgumentIntData("pitch", pitch, 360, 0));
this.UV = new Vector2(100, 80); this.UV = new Vector2(100, 80);
@ -52,7 +57,7 @@ public class TaskRotateTo extends TaskBaseArmbot
((IArmbot) this.program.getMachine()).moveArmTo(this.targetRotationYaw, this.targetRotationPitch); ((IArmbot) this.program.getMachine()).moveArmTo(this.targetRotationYaw, this.targetRotationPitch);
int deltaYaw = Math.abs(((IArmbot) this.program.getMachine()).getRotation().intY() - this.targetRotationPitch); int deltaYaw = Math.abs(((IArmbot) this.program.getMachine()).getRotation().intY() - this.targetRotationPitch);
int deltaPitch = Math.abs(((IArmbot) this.program.getMachine()).getRotation().intX() - this.targetRotationYaw); int deltaPitch = Math.abs(((IArmbot) this.program.getMachine()).getRotation().intX() - this.targetRotationYaw);
return deltaYaw > 0 && deltaPitch > 0 ? ProcessReturn.CONTINUE : ProcessReturn.DONE; return deltaYaw != 0 && deltaPitch != 0 ? ProcessReturn.CONTINUE : ProcessReturn.DONE;
} }
return ProcessReturn.GENERAL_ERROR; return ProcessReturn.GENERAL_ERROR;
} }