Rotating BasicTE

Attached is a sample model with some custom code in a BasicTE.

The code is mostly default code in the Begin/Update/Finish Offset triggers. The difference is a few lines in the Begin Offset code that determines the shortest angle to rotate to pickup the flowitem:

double mz = fmod(zrot(current),360);
double theta = radianstodegrees(atan2(y,x));
double rz = theta - mz;
while(rz > 180) rz -= 360;
while(rz < -180) rz += 360;

In addition to rotating one end to pick up an item, this BasicTE was built to show functionality for arms on both ends of the machine. It chooses which end of the machine to use based on the itemtype of the item.

To use the other end, the calculation just needs to add 180 degrees to mz in the code:

if(getitemtype(item) == 2)
	mz += 180;