Added elevator-controller.
This commit is contained in:
parent
cf10db1b7f
commit
80bb1986b2
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--[[
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Elevator Controller
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A script for an all-in-one elevator with floor selection, sounds, doors, and
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more.
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]]
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local SYSTEM_NAME = "Test Elevator"
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-- Floors, in order from bottom to top.
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local FLOORS = {
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{
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label = "-1",
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name = "Basement",
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speaker = "speaker_2",
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doorRedstone = "redstoneIntegrator_17",
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contactRedstone = "redstoneIntegrator_18",
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monitor = "monitor_4",
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callMonitor = "monitor_5",
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height = 25
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},
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{
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label = "0",
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name = "Ground Floor",
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speaker = "speaker_1",
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doorRedstone = "redstoneIntegrator_7",
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contactRedstone = "redstoneIntegrator_6",
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monitor = "monitor_1",
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callMonitor = "monitor_3",
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height = 58
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},
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{
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label = "1",
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name = "Mechanical Room",
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speaker = "speaker_0",
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doorRedstone = "redstoneIntegrator_4",
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contactRedstone = "redstoneIntegrator_5",
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monitor = "monitor_0",
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callMonitor = "monitor_2",
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height = 68
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}
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}
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local FLOORS_BY_LABEL = {}
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for _, floor in pairs(FLOORS) do
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FLOORS_BY_LABEL[floor.label] = floor
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end
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local FLOOR_LABELS_ORDERED = {}
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for _, floor in pairs(FLOORS) do
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table.insert(FLOOR_LABELS_ORDERED, floor.label)
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end
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table.sort(FLOOR_LABELS_ORDERED, function(lblA, lblB) return FLOORS_BY_LABEL[lblA].height < FLOORS_BY_LABEL[lblB].height end)
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local CONTROL_BASE_RPM = 16
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local CONTROL_MAX_RPM = 256
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local CONTROL_ANALOG_LEVEL_PER_RPM = 2
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local CONTROL_DIRECTION_UP = true
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local CONTROL_DIRECTION_DOWN = false
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local CONTROL_REDSTONE = "redstoneIntegrator_13"
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local CURRENT_STATE = {
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rpm = nil,
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direction = nil
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}
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local function openDoor(floor)
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peripheral.call(floor.doorRedstone, "setOutput", "back", true)
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end
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local function closeDoor(floor)
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peripheral.call(floor.doorRedstone, "setOutput", "back", false)
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end
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local function playChime(floor)
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local speaker = peripheral.wrap(floor.speaker)
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speaker.playNote("chime", 1, 18)
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os.sleep(0.1)
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speaker.playNote("chime", 1, 12)
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end
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-- Converts an RPM speed to a blocks-per-second speed.
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local function rpmToBps(rpm)
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return (10 / 256) * rpm
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end
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-- Sets the RPM of the elevator winch, and returns the true rpm that the system operates at.
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local function setRpm(rpm)
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if rpm == 0 then
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peripheral.call(CONTROL_REDSTONE, "setOutput", "left", true)
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return 0
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else
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local analogPower = 0
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local trueRpm = 16
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while trueRpm < rpm do
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analogPower = analogPower + CONTROL_ANALOG_LEVEL_PER_RPM
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trueRpm = trueRpm * 2
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end
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peripheral.call(CONTROL_REDSTONE, "setAnalogOutput", "right", analogPower)
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peripheral.call(CONTROL_REDSTONE, "setOutput", "left", false)
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return trueRpm
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end
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end
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-- Sets the speed of the elevator motion.
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-- Positive numbers move the elevator up.
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-- Zero sets the elevator as motionless.
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-- Negative numbers move the elevator down.
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-- The nearest possible RPM is used, via SPEEDS.
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local function setSpeed(rpm)
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if rpm == 0 then
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if CURRENT_STATE.rpm ~= 0 then
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CURRENT_STATE.rpm = setRpm(0)
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-- print("Set RPM to " .. tostring(CURRENT_STATE.rpm))
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end
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return
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end
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if rpm > 0 then
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peripheral.call(CONTROL_REDSTONE, "setOutput", "top", CONTROL_DIRECTION_UP)
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CURRENT_STATE.direction = CONTROL_DIRECTION_UP
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-- print("Set winch to UP")
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elseif rpm < 0 then
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peripheral.call(CONTROL_REDSTONE, "setOutput", "top", CONTROL_DIRECTION_DOWN)
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CURRENT_STATE.direction = CONTROL_DIRECTION_DOWN
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-- print("Set winch to DOWN")
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end
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if math.abs(rpm) == CURRENT_STATE.rpm then return end
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CURRENT_STATE.rpm = setRpm(math.abs(rpm))
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-- print("Set RPM to " .. tostring(CURRENT_STATE.rpm))
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end
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local function isFloorContactActive(floor)
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return peripheral.call(floor.contactRedstone, "getInput", "back")
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end
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-- Determines the label of the floor we're currently on.
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-- We first check all known floors to see if the elevator is at one.
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-- If that fails, the elevator is at an unknown position, so we move it as soon as possible to top.
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local function determineCurrentFloorLabel()
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for _, floor in pairs(FLOORS) do
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local status = peripheral.call(floor.contactRedstone, "getInput", "back")
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if status then return floor.label end
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end
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-- No floor found. Move the elevator to the top.
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print("Elevator at unknown position, moving to top.")
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local lastFloor = FLOORS[#FLOORS]
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setSpeed(256)
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local elapsedTime = 0
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while not isFloorContactActive(lastFloor) and elapsedTime < 10 do
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os.sleep(1)
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elapsedTime = elapsedTime + 1
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end
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setSpeed(0)
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if not isFloorContactActive(lastFloor) then
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print("Timed out. Moving down until we hit the top floor.")
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setSpeed(-1)
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while not isFloorContactActive(lastFloor) do
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-- Busy-wait until we hit the contact.
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end
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setSpeed(0)
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end
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return lastFloor.label
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end
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-- Computes a series of keyframes describing the linear motion of the elevator.
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local function computeLinearMotion(distance)
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local preFrames = {}
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local postFrames = {}
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local intervalDuration = 0.25
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local distanceToCover = distance
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local rpmFactor = 1
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while rpmFactor * CONTROL_BASE_RPM < CONTROL_MAX_RPM do
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--print("Need to cover " .. distanceToCover .. " more meters.")
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local rpm = CONTROL_BASE_RPM * rpmFactor
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local potentialDistanceCovered = 2 * intervalDuration * rpmToBps(rpm)
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local nextRpmFactorDuration = (distanceToCover - potentialDistanceCovered) / rpmToBps(CONTROL_BASE_RPM * (rpmFactor + 1))
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--print("We'd cover " .. potentialDistanceCovered .. " by moving at " .. rpm .. " rpm for " .. intervalDuration .. " seconds twice.")
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if potentialDistanceCovered <= distanceToCover and nextRpmFactorDuration >= 2 then
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local frame = {
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rpm = rpm,
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duration = intervalDuration
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}
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table.insert(preFrames, frame)
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table.insert(postFrames, 1, frame)
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distanceToCover = distanceToCover - potentialDistanceCovered
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rpmFactor = rpmFactor * 2
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elseif nextRpmFactorDuration < 2 then
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break
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end
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end
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-- Cover the remaining distance with the next rpmFactor.
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local finalRpm = CONTROL_BASE_RPM * rpmFactor
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local finalDuration = distanceToCover / rpmToBps(finalRpm)
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local finalFrame = {
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rpm = finalRpm,
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duration = finalDuration
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}
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local frames = {}
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for _, frame in pairs(preFrames) do table.insert(frames, frame) end
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table.insert(frames, finalFrame)
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for _, frame in pairs(postFrames) do table.insert(frames, frame) end
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return frames
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end
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-- Moves the elevator from its current floor to the floor with the given label.
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-- During this action, all user input is ignored.
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local function goToFloor(floorLabel)
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print("Going to floor " .. floorLabel)
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local currentFloorLabel = determineCurrentFloorLabel()
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if currentFloorLabel == floorLabel then return end
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local currentFloor = FLOORS_BY_LABEL[currentFloorLabel]
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local targetFloor = FLOORS_BY_LABEL[floorLabel]
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local rpmDir = 1
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if targetFloor.height < currentFloor.height then
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rpmDir = -1
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end
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local distance = math.abs(targetFloor.height - currentFloor.height) - 1
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local motionKeyframes = computeLinearMotion(distance)
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playChime(currentFloor)
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closeDoor(currentFloor)
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for _, frame in pairs(motionKeyframes) do
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local sleepTime = math.floor((frame.duration - 0.05) * 20) / 20 -- Make sure we round down to safely arrive before the detector.
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if frame.rpm == CONTROL_MAX_RPM then
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sleepTime = sleepTime - 0.05 -- For some reason at max RPM this is needed.
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end
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print("Running frame: rpm = " .. tostring(frame.rpm) .. ", dur = " .. tostring(sleepTime))
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setSpeed(rpmDir * frame.rpm)
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os.sleep(sleepTime)
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end
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-- On approach, slow down, wait for contact, then slowly align and stop.
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setSpeed(rpmDir * 1)
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print("Waiting for floor contact capture...")
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local waited = false
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while not isFloorContactActive(targetFloor) do
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waited = true
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end
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print("Contact made.")
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if waited then
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print("Aligning...")
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local alignmentDuration = 0.4 / rpmToBps(CONTROL_BASE_RPM)
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os.sleep(alignmentDuration)
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end
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setSpeed(0)
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print("Locked")
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playChime(targetFloor)
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openDoor(targetFloor)
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end
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local function initControls()
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print("Initializing control system.")
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setSpeed(0)
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local currentFloorLabel = determineCurrentFloorLabel()
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local currentFloor = FLOORS_BY_LABEL[currentFloorLabel]
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for _, floor in pairs(FLOORS) do
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openDoor(floor)
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os.sleep(0.05)
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closeDoor(floor)
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end
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openDoor(currentFloor)
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print("Control system initialized.")
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end
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--[[
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User Interface Section
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]]
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local function drawText(monitor, x, y, text, fg, bg)
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if fg ~= nil then
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monitor.setTextColor(fg)
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end
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if bg ~= nil then
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monitor.setBackgroundColor(bg)
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end
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monitor.setCursorPos(x, y)
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monitor.write(text)
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end
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local function drawTextCentered(monitor, x, y, text, fg, bg)
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local w, h = monitor.getSize()
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drawText(monitor, x - (string.len(text) / 2), y, text, fg, bg)
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end
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local function clearLine(monitor, line, color)
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monitor.setBackgroundColor(color)
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monitor.setCursorPos(1, line)
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monitor.clearLine()
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end
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local function drawGui(floor, currentFloorLabel, destinationFloorLabel)
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local monitor = peripheral.wrap(floor.monitor)
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monitor.setTextScale(1)
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monitor.setBackgroundColor(colors.black)
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monitor.clear()
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local w, h = monitor.getSize()
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clearLine(monitor, 1, colors.blue)
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drawText(monitor, 1, 1, SYSTEM_NAME, colors.white, colors.blue)
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for i=1, #FLOOR_LABELS_ORDERED do
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local label = FLOOR_LABELS_ORDERED[#FLOOR_LABELS_ORDERED - i + 1]
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local floor = FLOORS_BY_LABEL[label]
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local bg = colors.lightGray
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if i % 2 == 0 then bg = colors.gray end
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local line = i + 1
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clearLine(monitor, line, bg)
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local labelBg = bg
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if label == currentFloorLabel and destinationFloorLabel == nil then
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labelBg = colors.green
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end
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if label == destinationFloorLabel then
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labelBg = colors.yellow
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end
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-- Format label with padding.
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label = " " .. label
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while string.len(label) < 3 do label = label .. " " end
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drawText(monitor, 1, line, label, colors.white, labelBg)
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drawText(monitor, 4, line, floor.name, colors.white, bg)
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end
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end
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local function drawCallMonitorGui(floor, currentFloorLabel, destinationFloorLabel)
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local monitor = peripheral.wrap(floor.callMonitor)
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monitor.setTextScale(0.5)
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monitor.setBackgroundColor(colors.white)
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monitor.clear()
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local w, h = monitor.getSize()
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if destinationFloorLabel == floor.label then
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drawTextCentered(monitor, w/2, h/2, "Arriving", colors.green, colors.white)
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elseif destinationFloorLabel ~= nil then
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drawTextCentered(monitor, w/2, h/2, "In transit", colors.yellow, colors.white)
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elseif floor.label == currentFloorLabel then
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drawTextCentered(monitor, w/2, h/2, "Available", colors.green, colors.white)
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else
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drawTextCentered(monitor, w/2, h/2, "Call", colors.blue, colors.white)
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end
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end
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local function renderMonitors(currentFloorLabel, destinationFloorLabel)
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for _, floor in pairs(FLOORS) do
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drawGui(floor, currentFloorLabel, destinationFloorLabel)
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drawCallMonitorGui(floor, currentFloorLabel, destinationFloorLabel)
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end
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end
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local function initUserInterface()
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local currentFloorLabel = determineCurrentFloorLabel()
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renderMonitors(currentFloorLabel, nil)
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end
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local function listenForInput()
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local event, peripheralId, x, y = os.pullEvent("monitor_touch")
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for _, floor in pairs(FLOORS) do
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if floor.monitor == peripheralId then
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if y > 1 and y <= #FLOORS + 1 then
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local floorIndex = #FLOOR_LABELS_ORDERED - (y - 1) + 1
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local label = FLOOR_LABELS_ORDERED[floorIndex]
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print("y = " .. tostring(y) .. ", floorIndex = " .. floorIndex .. ", label = " .. label)
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local currentFloorLabel = determineCurrentFloorLabel()
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if label ~= currentFloorLabel then
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renderMonitors(currentFloorLabel, label)
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goToFloor(label)
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renderMonitors(label, nil)
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end
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end
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return
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elseif floor.callMonitor == peripheralId then
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local currentFloorLabel = determineCurrentFloorLabel()
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if floor.label ~= currentFloorLabel then
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renderMonitors(currentFloorLabel, floor.label)
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goToFloor(floor.label)
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renderMonitors(floor.label, nil)
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end
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|
return
|
||||||
|
end
|
||||||
|
end
|
||||||
|
end
|
||||||
|
|
||||||
|
--[[
|
||||||
|
Main Script Area.
|
||||||
|
]]
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
initControls()
|
||||||
|
initUserInterface()
|
||||||
|
while true do
|
||||||
|
listenForInput()
|
||||||
|
end
|
||||||
|
|
@ -0,0 +1,71 @@
|
||||||
|
local CONTROL_BASE_RPM = 16
|
||||||
|
local CONTROL_MAX_RPM = 256
|
||||||
|
|
||||||
|
-- Converts an RPM speed to a blocks-per-second speed.
|
||||||
|
local function rpmToBps(rpm)
|
||||||
|
return (10 / 256) * rpm
|
||||||
|
end
|
||||||
|
|
||||||
|
-- Computes a series of keyframes describing the linear motion of the elevator.
|
||||||
|
local function computeLinearMotion(distance)
|
||||||
|
local preFrames = {}
|
||||||
|
local postFrames = {}
|
||||||
|
local intervalDuration = 0.5
|
||||||
|
|
||||||
|
-- Linear motion calculation
|
||||||
|
local v1Dist = 2 * intervalDuration * rpmToBps(CONTROL_BASE_RPM)
|
||||||
|
local v2Dist = 2 * intervalDuration * rpmToBps(CONTROL_BASE_RPM * 2)
|
||||||
|
local v3Dist = 2 * intervalDuration * rpmToBps(CONTROL_BASE_RPM * 4)
|
||||||
|
local v4Dist = 2 * intervalDuration * rpmToBps(CONTROL_BASE_RPM * 8)
|
||||||
|
|
||||||
|
local distanceToCover = distance
|
||||||
|
local rpmFactor = 1
|
||||||
|
while rpmFactor * CONTROL_BASE_RPM < CONTROL_MAX_RPM do
|
||||||
|
print("Need to cover " .. distanceToCover .. " more meters.")
|
||||||
|
local rpm = CONTROL_BASE_RPM * rpmFactor
|
||||||
|
local potentialDistanceCovered = 2 * intervalDuration * rpmToBps(rpm)
|
||||||
|
local nextRpmFactorDuration = (distanceToCover - potentialDistanceCovered) / rpmToBps(CONTROL_BASE_RPM * (rpmFactor + 1))
|
||||||
|
print("We'd cover " .. potentialDistanceCovered .. " by moving at " .. rpm .. " rpm for " .. intervalDuration .. " seconds twice.")
|
||||||
|
if potentialDistanceCovered <= distanceToCover and nextRpmFactorDuration >= 2 then
|
||||||
|
local frame = {
|
||||||
|
rpm = rpm,
|
||||||
|
duration = intervalDuration
|
||||||
|
}
|
||||||
|
table.insert(preFrames, frame)
|
||||||
|
table.insert(postFrames, 1, frame)
|
||||||
|
distanceToCover = distanceToCover - potentialDistanceCovered
|
||||||
|
rpmFactor = rpmFactor * 2
|
||||||
|
elseif nextRpmFactorDuration < 2 then
|
||||||
|
break
|
||||||
|
end
|
||||||
|
end
|
||||||
|
|
||||||
|
-- Cover the remaining distance with the next rpmFactor.
|
||||||
|
local finalRpm = CONTROL_BASE_RPM * rpmFactor
|
||||||
|
local finalDuration = distanceToCover / rpmToBps(finalRpm)
|
||||||
|
local finalFrame = {
|
||||||
|
rpm = finalRpm,
|
||||||
|
duration = finalDuration
|
||||||
|
}
|
||||||
|
local frames = {}
|
||||||
|
for _, frame in pairs(preFrames) do table.insert(frames, frame) end
|
||||||
|
table.insert(frames, finalFrame)
|
||||||
|
for _, frame in pairs(postFrames) do table.insert(frames, frame) end
|
||||||
|
return frames
|
||||||
|
end
|
||||||
|
|
||||||
|
local function printFrames(frames)
|
||||||
|
for _, frame in pairs(frames) do
|
||||||
|
print("Frame: rpm = " .. tostring(frame.rpm) .. ", duration = " .. tostring(frame.duration))
|
||||||
|
end
|
||||||
|
end
|
||||||
|
|
||||||
|
local frames = computeLinearMotion(5)
|
||||||
|
printFrames(frames)
|
||||||
|
local dist = 0
|
||||||
|
for _, frame in pairs(frames) do
|
||||||
|
dist = dist + rpmToBps(frame.rpm) * frame.duration
|
||||||
|
end
|
||||||
|
print(dist)
|
||||||
|
|
||||||
|
print(0.15 % 0.05 == 0)
|
||||||
Loading…
Reference in New Issue