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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 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
                if(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(block.name == "dirt" or block.name == "cobblestone" or block.name == "stone" or block.name == "grass" or dig) then
            if(block.name == "minecraft:dirt" or block.name == "minecraft:cobblestone" or block.name == "minecraft:stone" or block.name == "minecraft:sand" or block.name == "minecraft:sandstone" or block.name == "minecraft:clay" or block.name == "minecraft:gravel" or block.name == "minecraft:yellow_flower" or block.name == "minecraft:red_flower" or block.name == "minecraft:granite" or block.name == "minecraft:wood" or block.name == "minecraft:double_plant" or block.name == "minecraft:leaves" or block.name == "minecraft:moss_stone" or block.name == "minecraft:grass" 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()") 
        os.sleep(10)

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
    os.sleep(5)

    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()

1		local homeX, homeY, homeZ -- Coordinates of turtle home station
2		homeX = 420
3		homeY = 65
4		homeZ = -104
5		local direction
6		local timeout = 5 -- The timeout of the gps
7		local safeHeight = 35 --The height that is safe to dig at
8
9
10		function go(dist, dig)
11		dig = (dig == true)
12		dist = dist or 1
13		if(dist <= 0) then return end
14		for i = 1, dist do
15		while(not turtle.forward()) do
16		turtle.attack()
17		if(turtle.detect()) then
18		if(dig) then
19		turtle.dig()
20		else
21		local x,y,z = gps.locate(timeout, true)
22		if(safeHeight<y) then
23		goDown(y-safeHeight)
24		turtle.dig()
25		else
26		turtle.dig()
27		end
28		end
29		end
30		end
31		end
32		end
33
34		function goDown(dist, dig)
35		dig = true -- Until I find a way to make sure it does go home if it can't go down
36		dist = dist or 1
37		if(dist<=0) then return end
38		for i = 1, dist do
39		while(not turtle.down()) do
40		turtle.attackDown()
41		if(dig) then
42		turtle.digDown()
43		else
44		return false
45		end
46		end
47		end
48		end
49
50		function goUp(dist)
51		dist = dist or 1
52		if(dist<=0)then return end
53		for i = 1, dist do
54		while(not turtle.up()) do
55		turtle.up()
56		turtle.digUp()
57		end
58		end
59		end
60
61		function getDirection(dig, times)
62		dig = dig ~= false
63		times = times or 1
64		local loc1 = vector.new(gps.locate(timeout, false))
65		if(not turtle.forward()) then
66		if(turtle.detect()) then
67		local succ, block = turtle.inspect()
68	-	if(block.name == "dirt" or block.name == "cobblestone" or block.name == "stone" or block.name == "grass" or dig) then
68	+	if(block.name == "minecraft:dirt" or block.name == "minecraft:cobblestone" or block.name == "minecraft:stone" or block.name == "minecraft:sand" or block.name == "minecraft:sandstone" or block.name == "minecraft:clay" or block.name == "minecraft:gravel" or block.name == "minecraft:yellow_flower" or block.name == "minecraft:red_flower" or block.name == "minecraft:granite" or block.name == "minecraft:wood" or block.name == "minecraft:double_plant" or block.name == "minecraft:leaves" or block.name == "minecraft:moss_stone" or block.name == "minecraft:grass" or dig) then
69		turtle.dig()
70		turtle.forward()
71		else
72		if(times<4) then
73		turnLeft(false)
74		local tmp = getDirection(dig, times+1)
75		turnRight(false)
76		return (tmp+1)%4
77		end
78		return false
79		end
80		end
81		end
82		local loc2 = vector.new(gps.locate(timeout, false))
83		heading = loc2-loc1
84		if(not turtle.back()) then
85		turtle.turnLeft()
86		turtle.turnLeft()
87		while(not turtle.forward()) do
88		turtle.dig()
89		turtle.attack()
90		end
91		turtle.turnRight()
92		turtle.turnRight()
93		end
94		return ((heading.x + math.abs(heading.x) * 2) + (heading.z + math.abs(heading.z) * 3))-1
95		end
96
97		function turnLeft(followDir)
98		followDir = followDir ~= false
99		turtle.turnLeft()
100		if(followDir) then
101		direction = (direction-1)%4
102		end
103		end
104
105		function turnRight(followDir)
106		followDir = followDir ~= false
107		turtle.turnRight()
108		if(followDir) then
109		direction = (direction+1)%4
110		end
111		end
112
113		function turnTo(dir)
114		if(dir >= 0 and dir <= 3) then
115		local turns = (dir-direction)%4
116		if (turns == 1 or turns == -3) then
117		turnRight()
118		elseif(turns == 2) then
119		turnRight()
120		turnRight()
121		elseif(turns == -1 or turns == 3) then
122		turnLeft()
123		elseif(turns == -2) then
124		turnLeft()
125		turnLeft()
126		end
127		end
128		if(dir ~= direction) then
129		print((dir-direction)%4)
130		print("Problem in turnTo()")
131	-	os.sleep(10)
131	+
132		end
133
134		function goHome()
135		local x,y,z = gps.locate(5, false)
136
137		-- if(y > safeHeight) then
138		-- goDown(y-safeHeight)
139		--end
140		direction = getDirection(y<=safeHeight)
141		print("Got direction: "..direction)
142		if(x>homeX) then
143	-	os.sleep(5)
143	+
144		elseif(x<homeX) then
145		turnTo(2)
146		end
147		go(math.abs(x-homeX))
148		if(z>homeZ) then
149		turnTo(1)
150		elseif(z<homeZ) then
151		turnTo(3)
152		end
153		go(math.abs(z-homeZ))
154		if(y>homeY) then
155		goDown(y-homeY)
156		elseif(y<homeY) then
157		goUp(homeY-y)
158		end
159		if(vector.new(x,y,z)-vector.new(homeX,homeY,homeZ) == 0) then
160		print("Error in going home equation")
161		print("Current position: ("..x..","..y..","..z..")")
162		end
163		end
164
165		os.sleep(3)
166		goHome()