New heading command
#955
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New heading command
#955
+64
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xsebek
approved these changes
Jan 4, 2023
| @@ -104,6 +107,9 @@ instance ToJSONKey AbsoluteDir where | |||
| instance FromJSONKey AbsoluteDir where | |||
| fromJSONKey = genericFromJSONKey defaultJSONKeyOptions | |||
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| -- | A relative direction is one which is defined with respect to the | |||
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I like this definition, it makes sense to have DDown relative this way. 👍
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Yes, I was confused about DDown so I added these comments after I figured it out. 😄
| -- for players in the vast majority of cases. We rather choose | ||
| -- to just return the direction 'down' in any case where we don't | ||
| -- otherwise have anything reasonable to return. | ||
| return $ Out (VDir (fromMaybe (DRelative DDown) $ mh >>= toDirection)) s k |
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How would you use it, exactly?
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Never mind, I thought this was maybe (DRelative Down) toDirection mh but I see now its two Maybes. 👍
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Add a new `GPS receiver` device which enables the `senseloc` capability (and hence the `whereami` command). Towards #26 . - My immediate motivation is that I want to be able to define `excursion : cmd unit -> cmd unit` which executes the given command and then returns to the same location and orientation as before. Being able to use the `whereami` command is one of the last missing pieces of machinery necessary to be able to do this in classic mode (the other is a `heading` command, see #955). - The proposed recipe for `GPS receiver` is `antenna + circuit + clock + compass`, which is a somewhat difficult recipe (`antenna` requires `silver` which requires a `deep mine`; a `clock` requires `quartz` + a bunch of `iron gears`, etc.). One might wonder whether we should make the recipe easier since finding out where you are seems like a kind of fundamental operation. However, consider that in order to even be able to make use of the result of `whereami` you need at least (1) an `ADT calculator` to deal with the pair (which transitively requires `typewriter` -> `circuit` -> `silicon` -> `quartz`) (2) probably things like `comparator` and `calculator` to do anything useful with the coordinates. By the time you have those things you can definitely already build `circuit` + `clock` + `compass`, and you're probably not that far away from getting some `silver` for an `antenna`. Also, in practice it's an interesting/fun constraint to build up machinery that has to work entirely based on *relative* position without being able to find out your absolute coordinates. - For some reason this is causing `Testing/508-capability-subset` to fail. I think perhaps it is due to #397 ? I will investigate. *EDIT*: unfortunately, that wasn't it!
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Define a new command
heading : cmd dirwhich returns the robot's current heading (ordownif it doesn't have one, or if the heading is some weird vector).My immediate motivation is that I want to be able to define
excursion : cmd unit -> cmd unitwhich executes the given command and then returns to the same location and orientation as before. Theheadingcommand is one of the last missing pieces of machinery necessary to be able to implement this.