startup.lua

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Nov 7th, 2017

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local homeX, homeY, homeZ -- Coordinates of turtle home station
homeX = 420
homeY = 65
homeZ = -104
local direction
local timeout = 5 -- The timeout of the gps
local safeHeight = 35 --The height that is safe to dig at
function inAllowedBlock(block)
local allowed = {"minecraft:dirt", "minecraft:cobblestone", "minecraft:stone", "minecraft:sand", "minecraft:sandstone", "minecraft:clay", "minecraft:gravel", "minecraft:yellow_flower", "minecraft:red_flower", "minecraft:granite", "minecraft:wood", "minecraft:double_plant", "minecraft:leaves", "minecraft:moss_stone", "minecraft:grass"}
for i = 1, #allowed do
if(allowed[i-1]==block) then return true end
end
return false
end
function go(dist, dig)
dig = (dig == true)
dist = dist or 1
if(dist <= 0) then return end
for i = 1, dist do
while(not turtle.forward()) do
turtle.attack()
if(turtle.detect()) then
local succ, block = turtle.inspect()
if(isAllowedBlock(block.name) or dig) then
turtle.dig()
else
local x,y,z = gps.locate(timeout, true)
if(safeHeight<y) then
goDown(y-safeHeight)
turtle.dig()
else
turtle.dig()
end
end
end
end
end
end
function goDown(dist, dig)
dig = true -- Until I find a way to make sure it does go home if it can't go down
dist = dist or 1
if(dist<=0) then return end
for i = 1, dist do
while(not turtle.down()) do
turtle.attackDown()
if(dig) then
turtle.digDown()
else
return false
end
end
end
end
function goUp(dist)
dist = dist or 1
if(dist<=0)then return end
for i = 1, dist do
while(not turtle.up()) do
turtle.up()
turtle.digUp()
end
end
end
function getDirection(dig, times)
dig = dig ~= false
times = times or 1
local loc1 = vector.new(gps.locate(timeout, false))
if(not turtle.forward()) then
if(turtle.detect()) then
local succ, block = turtle.inspect()
if(isAllowedBlock(block.name) or dig) then
turtle.dig()
turtle.forward()
else
if(times<4) then
turnLeft(false)
local tmp = getDirection(dig, times+1)
turnRight(false)
return (tmp+1)%4
end
return false
end
end
end
local loc2 = vector.new(gps.locate(timeout, false))
heading = loc2-loc1
if(not turtle.back()) then
turtle.turnLeft()
turtle.turnLeft()
while(not turtle.forward()) do
turtle.dig()
turtle.attack()
end
turtle.turnRight()
turtle.turnRight()
end
return ((heading.x + math.abs(heading.x) * 2) + (heading.z + math.abs(heading.z) * 3))-1
end
function turnLeft(followDir)
followDir = followDir ~= false
turtle.turnLeft()
if(followDir) then
direction = (direction-1)%4
end
end
function turnRight(followDir)
followDir = followDir ~= false
turtle.turnRight()
if(followDir) then
direction = (direction+1)%4
end
end
function turnTo(dir)
if(dir >= 0 and dir <= 3) then
local turns = (dir-direction)%4
if (turns == 1 or turns == -3) then
turnRight()
elseif(turns == 2) then
turnRight()
turnRight()
elseif(turns == -1 or turns == 3) then
turnLeft()
elseif(turns == -2) then
turnLeft()
turnLeft()
end
end
if(dir ~= direction) then
print((dir-direction)%4)
print("Problem in turnTo()")
end
end
function goHome()
local x,y,z = gps.locate(5, false)
-- if(y > safeHeight) then
-- goDown(y-safeHeight)
--end
direction = getDirection(y<=safeHeight)
print("Got direction: "..direction)
if(x>homeX) then
turnTo(0)
elseif(x<homeX) then
turnTo(2)
end
go(math.abs(x-homeX))
if(z>homeZ) then
turnTo(1)
elseif(z<homeZ) then
turnTo(3)
end
go(math.abs(z-homeZ))
if(y>homeY) then
goDown(y-homeY)
elseif(y<homeY) then
goUp(homeY-y)
end
if(vector.new(x,y,z)-vector.new(homeX,homeY,homeZ) == 0) then
print("Error in going home equation")
print("Current position: ("..x..","..y..","..z..")")
end
end
os.sleep(3)
goHome()

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