move_lib.lua

Myros27

May 18th, 2025

Never

Add comment

Not a member of Pastebin yet? Sign Up, it unlocks many cool features!

Lua 20.13 KB | None | 0 0

raw download clone embed print report

--[[
move_lib.lua v1.0
A comprehensive movement and positioning library for ComputerCraft turtles.
Manages position, orientation, and provides movement commands with basic obstacle avoidance.
]]
local move_lib = {}
--#region Configuration and State
local AUTOMATA_PERIPHERAL_NAME = "end_automata" -- Corrected from "endAutomata" as CC peripherals are snake_case
local POSITION_FILE = "turtle_pos.json" -- File to save/load position and orientation
local REFUEL_SLOT = 16 -- Standard fuel slot
local FUEL_ITEM_NAME_PART = "coal" -- Used to identify fuel items for refueling logic (can be broader if needed)
-- Internal state
local automata = peripheral.find(AUTOMATA_PERIPHERAL_NAME)
local current_pos = { x = nil, y = nil, z = nil }
local current_dir = nil -- 0: North (+Z), 1: East (+X), 2: South (-Z), 3: West (-X)
-- Direction vectors (dx, dy, dz)
local DIR_VECTORS = {
[0] = {x = 0, y = 0, z = 1}, -- North (+Z)
[1] = {x = 1, y = 0, z = 0}, -- East (+X)
[2] = {x = 0, y = 0, z = -1}, -- South (-Z)
[3] = {x = -1, y = 0, z = 0} -- West (-X)
}
local DIR_NAMES = {
[0] = "North (+Z)",
[1] = "East (+X)",
[2] = "South (-Z)",
[3] = "West (-X)"
}
--#endregion
--#region Helper Functions (Internal)
local function log(message)
print("[MoveLib] " .. message)
-- If you had a global debug logger for the main bot, you could call it here
end
local function savePosition()
if current_pos.x == nil or current_dir == nil then
log("Cannot save position, state is unknown.")
return
end
local data = {
x = current_pos.x,
y = current_pos.y,
z = current_pos.z,
dir = current_dir
}
local file, err = fs.open(POSITION_FILE, "w")
if file then
file.write(textutils.serialiseJSON(data))
file.close()
log("Position saved: X:" .. data.x .. " Y:" .. data.y .. " Z:" .. data.z .. " Dir:" .. DIR_NAMES[data.dir])
else
log("Error saving position: " .. (err or "unknown"))
end
end
local function loadPosition()
if fs.exists(POSITION_FILE) then
local file, err = fs.open(POSITION_FILE, "r")
if file then
local sData = file.readAll()
file.close()
local success, data = pcall(textutils.unserialiseJSON, sData)
if success and data and data.x ~= nil and data.dir ~= nil then
current_pos.x = data.x
current_pos.y = data.y
current_pos.z = data.z
current_dir = data.dir
log("Position loaded: X:" .. current_pos.x .. " Y:" .. current_pos.y .. " Z:" .. current_pos.z .. " Dir:" .. DIR_NAMES[current_dir])
return true
else
log("Failed to parse position file or data invalid: " .. tostring(data))
end
else
log("Error opening position file for reading: " .. (err or "unknown"))
end
else
log("Position file not found.")
end
return false
end
local function dirNameToNumber(name)
name = string.lower(name or "")
if name == "n" or name == "north" then return 0
elseif name == "e" or name == "east" then return 1
elseif name == "s" or name == "south" then return 2
elseif name == "w" or name == "west" then return 3
end
log("Warning: Invalid direction name '" .. (name or "nil") .. "'. Defaulting to North.")
return 0 -- Default to North if invalid
end
local function numberToDirName(num)
return DIR_NAMES[num] or "Unknown"
end
--#endregion
--#region Core Movement and Action Functions
function move_lib.turnLeft()
if turtle.turnLeft() then
current_dir = (current_dir - 1 + 4) % 4
log("Turned Left. New Dir: " .. DIR_NAMES[current_dir])
savePosition()
return true
else
log("Failed to turn left.")
return false
end
end
move_lib.l = move_lib.turnLeft
function move_lib.turnRight()
if turtle.turnRight() then
current_dir = (current_dir + 1) % 4
log("Turned Right. New Dir: " .. DIR_NAMES[current_dir])
savePosition()
return true
else
log("Failed to turn right.")
return false
end
end
move_lib.r = move_lib.turnRight
function move_lib.turnAround()
log("Turning around...")
if move_lib.turnRight() and move_lib.turnRight() then
log("Turned Around. New Dir: " .. DIR_NAMES[current_dir])
return true
else
log("Failed to turn around completely.")
-- State might be inconsistent if one turn fails
return false
end
end
move_lib.a = move_lib.turnAround
function move_lib.forward()
if turtle.forward() then
local vec = DIR_VECTORS[current_dir]
current_pos.x = current_pos.x + vec.x
current_pos.y = current_pos.y + vec.y -- Forward/back doesn't change Y unless flying
current_pos.z = current_pos.z + vec.z
log("Moved Forward. New Pos: X:" .. current_pos.x .. " Y:" .. current_pos.y .. " Z:" .. current_pos.z)
savePosition()
return true
else
log("Failed to move forward (blocked).")
return false
end
end
move_lib.f = move_lib.forward
function move_lib.back()
if turtle.back() then
local vec = DIR_VECTORS[current_dir]
current_pos.x = current_pos.x - vec.x
current_pos.y = current_pos.y - vec.y
current_pos.z = current_pos.z - vec.z
log("Moved Back. New Pos: X:" .. current_pos.x .. " Y:" .. current_pos.y .. " Z:" .. current_pos.z)
savePosition()
return true
else
log("Failed to move back (blocked).")
return false
end
end
move_lib.b = move_lib.back
function move_lib.up()
if turtle.up() then
current_pos.y = current_pos.y + 1
log("Moved Up. New Pos: X:" .. current_pos.x .. " Y:" .. current_pos.y .. " Z:" .. current_pos.z)
savePosition()
return true
else
log("Failed to move up (blocked or no fuel).")
return false
end
end
move_lib.u = move_lib.up
function move_lib.down()
if turtle.down() then
current_pos.y = current_pos.y - 1
log("Moved Down. New Pos: X:" .. current_pos.x .. " Y:" .. current_pos.y .. " Z:" .. current_pos.z)
savePosition()
return true
else
log("Failed to move down (blocked).")
return false
end
end
move_lib.d = move_lib.down
function move_lib.home()
if not automata then
log("Error: End Automata peripheral not found for home warp.")
return false
end
log("Attempting to warp to 'home'...")
local success, reason = automata.warpToPoint("home")
if success then
log("Warped to home successfully.")
current_pos.x = 0
current_pos.y = 0
current_pos.z = 0
current_dir = 0 -- Assume facing North after home warp, can be adjusted
log("Position reset to home (0,0,0,N).")
savePosition()
return true
else
log("Failed to warp to home: " .. (reason or "unknown error"))
return false
end
end
move_lib.h = move_lib.home
function move_lib.refuel()
log("Starting refuel process...")
local initialFuel = turtle.getFuelLevel()
log("Initial fuel level: " .. initialFuel)
-- 1. Ensure slot 16 is selected and try to consolidate fuel there
turtle.select(REFUEL_SLOT)
local fuelInSlot = turtle.getItemCount(REFUEL_SLOT)
if fuelInSlot > 0 then
log("Fuel found in slot " .. REFUEL_SLOT .. ": " .. fuelInSlot)
end
-- 2. Suck from chest in front until slot 16 is full or chest is empty
local suckedCount = 0
local maxStackSize = turtle.getItemSpace(REFUEL_SLOT) -- Or 64 if not specific
if maxStackSize == 0 and fuelInSlot > 0 then maxStackSize = 64 - fuelInSlot -- Estimate if slot has item
elseif maxStackSize == 0 and fuelInSlot == 0 then maxStackSize = 64
else maxStackSize = turtle.getItemSpace(REFUEL_SLOT) end -- Available space
log("Attempting to suck fuel into slot " .. REFUEL_SLOT .. ". Space available: " .. maxStackSize)
while turtle.getItemSpace(REFUEL_SLOT) > 0 do -- While there is space in slot 16
local itemDetail = turtle.getItemDetail(REFUEL_SLOT)
if itemDetail and not string.find(string.lower(itemDetail.name), FUEL_ITEM_NAME_PART) then
log("Item in slot " .. REFUEL_SLOT .. " (" .. itemDetail.name .. ") is not fuel. Stopping suck.")
break -- Slot has non-fuel item
end
if turtle.suck() then
suckedCount = suckedCount + 1
log("Sucked 1 fuel item. Total sucked: " .. suckedCount)
if turtle.getItemCount(REFUEL_SLOT) >= 64 then
log("Slot " .. REFUEL_SLOT .. " is full.")
break
end
else
log("Failed to suck or chest empty.")
break
end
sleep(0.1) -- Small delay
end
-- 3. Refuel from slot 16
turtle.select(REFUEL_SLOT)
if turtle.getItemCount(REFUEL_SLOT) > 0 then
log("Refueling from slot " .. REFUEL_SLOT .. "...")
local refueled = turtle.refuel(0) -- Refuel all from selected slot
if refueled then
log("Successfully refueled. Amount: " .. (turtle.getFuelLevel() - initialFuel - suckedCount)) -- approximation
else
log("Refuel command failed, or no fuel items in slot " .. REFUEL_SLOT .. ".")
end
else
log("No fuel items in slot " .. REFUEL_SLOT .. " to refuel with.")
end
log("Refuel process finished. Current fuel: " .. turtle.getFuelLevel())
if turtle.getFuelLevel() == "unlimited" or turtle.getFuelLevel() > initialFuel then
return true
else
return false
end
end
function move_lib.setPos(x, y, z, dir_name_or_num)
if type(x) ~= "number" or type(y) ~= "number" or type(z) ~= "number" then
log("Error: setPos requires x, y, z to be numbers.")
return false
end
current_pos.x = x
current_pos.y = y
current_pos.z = z
if type(dir_name_or_num) == "number" then
current_dir = dir_name_or_num % 4
else
current_dir = dirNameToNumber(dir_name_or_num)
end
log("Position manually set to: X:" .. x .. " Y:" .. y .. " Z:" .. z .. " Dir:" .. DIR_NAMES[current_dir])
savePosition()
return true
end
--#endregion
--#region Advanced Movement (Pathfinding)
local function turnToDir(target_dir_num)
if current_dir == target_dir_num then return true end
log("Turning to target direction: " .. DIR_NAMES[target_dir_num])
local diff = (target_dir_num - current_dir + 4) % 4
if diff == 1 then return move_lib.turnRight()
elseif diff == 2 then return move_lib.turnAround()
elseif diff == 3 then return move_lib.turnLeft()
end
return false -- Should not happen
end
function move_lib.moveTo(targetX, targetY, targetZ, targetDir_name_or_num)
log(string.format("MoveTo called: Target X:%s Y:%s Z:%s Dir:%s",
tostring(targetX), tostring(targetY), tostring(targetZ), tostring(targetDir_name_or_num)))
local target_dir_num
if type(targetDir_name_or_num) == "number" then
target_dir_num = targetDir_name_or_num % 4
else
target_dir_num = dirNameToNumber(targetDir_name_or_num)
end
local attempts = 0
local max_attempts_per_block = 3 -- How many random moves to try if stuck on one axis
while (current_pos.x ~= targetX or current_pos.y ~= targetY or current_pos.z ~= targetZ) and attempts < 100 do
attempts = attempts + 1
local moved_this_cycle = false
local stuck_on_axis_attempts = 0
-- Try Y first (often requires fuel and can be tricky)
if current_pos.y < targetY then
if move_lib.up() then moved_this_cycle = true else
log("moveTo: Cannot move UP towards target Y.")
-- Basic avoidance: try moving on X/Z if also needed, then retry Y
if (current_pos.x ~= targetX or current_pos.z ~= targetZ) and stuck_on_axis_attempts < max_attempts_per_block then
stuck_on_axis_attempts = stuck_on_axis_attempts + 1
log("moveTo: Stuck on Y, trying X/Z move (" .. stuck_on_axis_attempts .. "/" .. max_attempts_per_block .. ")")
-- (Implementation of X/Z preference here before random)
elseif stuck_on_axis_attempts < max_attempts_per_block then -- Only Y is wrong, but can't move
stuck_on_axis_attempts = stuck_on_axis_attempts + 1
log("moveTo: Stuck only on Y, trying random move (" .. stuck_on_axis_attempts .. "/" .. max_attempts_per_block .. ")")
local rand_dir = math.random(0,3)
if turnToDir(rand_dir) and move_lib.forward() then moved_this_cycle = true else log("moveTo: Random move failed.") end
else
log("moveTo: Persistently stuck on Y axis. Aborting move for this axis.")
targetY = current_pos.y -- Give up on Y
end
end
elseif current_pos.y > targetY then
if move_lib.down() then moved_this_cycle = true else
log("moveTo: Cannot move DOWN towards target Y.")
if (current_pos.x ~= targetX or current_pos.z ~= targetZ) and stuck_on_axis_attempts < max_attempts_per_block then
stuck_on_axis_attempts = stuck_on_axis_attempts + 1
-- (X/Z preference)
elseif stuck_on_axis_attempts < max_attempts_per_block then
stuck_on_axis_attempts = stuck_on_axis_attempts + 1
local rand_dir = math.random(0,3)
if turnToDir(rand_dir) and move_lib.forward() then moved_this_cycle = true else log("moveTo: Random move failed.") end
else
log("moveTo: Persistently stuck on Y axis. Aborting move for this axis.")
targetY = current_pos.y
end
end
end
if moved_this_cycle then stuck_on_axis_attempts = 0; goto continue_main_loop end
-- Try X
if current_pos.x < targetX then
if turnToDir(1) and move_lib.forward() then moved_this_cycle = true else -- Turn East (+X)
log("moveTo: Cannot move EAST towards target X.")
if current_pos.z ~= targetZ and stuck_on_axis_attempts < max_attempts_per_block then stuck_on_axis_attempts = stuck_on_axis_attempts + 1 -- (Z preference)
elseif stuck_on_axis_attempts < max_attempts_per_block then stuck_on_axis_attempts = stuck_on_axis_attempts + 1; local r_dir = (math.random(0,1)*2); if turnToDir(r_dir) and move_lib.forward() then moved_this_cycle = true end -- Try N/S
else log("moveTo: Persistently stuck on X axis. Aborting move for this axis."); targetX = current_pos.x end
end
elseif current_pos.x > targetX then
if turnToDir(3) and move_lib.forward() then moved_this_cycle = true else -- Turn West (-X)
log("moveTo: Cannot move WEST towards target X.")
if current_pos.z ~= targetZ and stuck_on_axis_attempts < max_attempts_per_block then stuck_on_axis_attempts = stuck_on_axis_attempts + 1 -- (Z preference)
elseif stuck_on_axis_attempts < max_attempts_per_block then stuck_on_axis_attempts = stuck_on_axis_attempts + 1; local r_dir = (math.random(0,1)*2); if turnToDir(r_dir) and move_lib.forward() then moved_this_cycle = true end
else log("moveTo: Persistently stuck on X axis. Aborting move for this axis."); targetX = current_pos.x end
end
end
if moved_this_cycle then stuck_on_axis_attempts = 0; goto continue_main_loop end
-- Try Z
if current_pos.z < targetZ then
if turnToDir(0) and move_lib.forward() then moved_this_cycle = true else -- Turn North (+Z)
log("moveTo: Cannot move NORTH towards target Z.")
if current_pos.x ~= targetX and stuck_on_axis_attempts < max_attempts_per_block then stuck_on_axis_attempts = stuck_on_axis_attempts + 1 -- (X preference)
elseif stuck_on_axis_attempts < max_attempts_per_block then stuck_on_axis_attempts = stuck_on_axis_attempts + 1; local r_dir = (math.random(0,1)*2)+1; if turnToDir(r_dir) and move_lib.forward() then moved_this_cycle = true end -- Try E/W
else log("moveTo: Persistently stuck on Z axis. Aborting move for this axis."); targetZ = current_pos.z end
end
elseif current_pos.z > targetZ then
if turnToDir(2) and move_lib.forward() then moved_this_cycle = true else -- Turn South (-Z)
log("moveTo: Cannot move SOUTH towards target Z.")
if current_pos.x ~= targetX and stuck_on_axis_attempts < max_attempts_per_block then stuck_on_axis_attempts = stuck_on_axis_attempts + 1 -- (X preference)
elseif stuck_on_axis_attempts < max_attempts_per_block then stuck_on_axis_attempts = stuck_on_axis_attempts + 1; local r_dir = (math.random(0,1)*2)+1; if turnToDir(r_dir) and move_lib.forward() then moved_this_cycle = true end
else log("moveTo: Persistently stuck on Z axis. Aborting move for this axis."); targetZ = current_pos.z end
end
end
if moved_this_cycle then stuck_on_axis_attempts = 0; goto continue_main_loop end
if not moved_this_cycle then
log("moveTo: No successful primary move this cycle. Attempts: " .. attempts)
-- This means it's likely truly stuck or has given up on an axis.
if stuck_on_axis_attempts >= max_attempts_per_block then
log("moveTo: Max stuck attempts reached for current axis strategy. Breaking loop.")
break
end
end
::continue_main_loop::
sleep(0.05) -- Small delay to prevent cpu overload if stuck
end
if attempts >= 100 then
log("moveTo: Reached max attempts (100). Giving up on reaching exact coordinates.")
end
-- Finally, turn to the target direction
if not turnToDir(target_dir_num) then
log("moveTo: Failed to turn to final target direction.")
end
if current_pos.x == targetX and current_pos.y == targetY and current_pos.z == targetZ and current_dir == target_dir_num then
log("moveTo: Successfully reached target position and orientation.")
return true
else
log(string.format("moveTo: Finished. Final Pos X:%s Y:%s Z:%s Dir:%s. Target was X:%s Y:%s Z:%s Dir:%s",
current_pos.x, current_pos.y, current_pos.z, DIR_NAMES[current_dir],
targetX, targetY, targetZ, DIR_NAMES[target_dir_num]))
return false
end
end
move_lib.m = move_lib.moveTo
--#endregion
--#region Initialization
function move_lib.init()
log("Initializing Move Library...")
if not automata then
log("CRITICAL WARNING: End Automata peripheral ('"..AUTOMATA_PERIPHERAL_NAME.."') not found. Home warp and auto-init will fail.")
end
if not loadPosition() then
log("Position unknown or load failed. Warping to home and setting default position.")
if move_lib.home() then -- home() already sets pos to 0,0,0,N and saves
log("Successfully initialized at home.")
else
log("CRITICAL: Failed to warp home for initial setup. Position remains unknown.")
-- Bot is in an undefined state here. Might need manual setPos.
current_pos.x = nil -- Ensure it's marked as unknown
end
end
log("Move Library Initialized. Current Pos: X:" .. tostring(current_pos.x) .. " Y:" .. tostring(current_pos.y) .. " Z:" .. tostring(current_pos.z) .. " Dir:" .. DIR_NAMES[current_dir or -1])
end
move_lib.getPosition = function() return current_pos end
move_lib.getDirection = function() return current_dir end
move_lib.getDirectionName = function() return DIR_NAMES[current_dir] end
-- Call init when library is loaded
move_lib.init()
--#endregion
return move_lib

Add Comment

Please, Sign In to add comment