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local numutil = require 'numutil'
local function ensure_equipped(ptype, item)
local cur = peripheral.getType"left"
print(cur)
if cur == ptype then return true end
for i = 1,16 do
local det = turtle.getItemDetail(i)
if det and det.name == item then
turtle.select(i)
return turtle.equipLeft()
end
end
return false, "couldn't find "..item
end
local function ensure_modem() return ensure_equipped("modem","computercraft:wireless_modem_normal") end
local POS, FACING
local function turtle_pos_init()
assert(ensure_modem())
POS = vector.new(gps.locate())
while turtle.detect() do turtle.turnRight() end
turtle.forward()
local newpos = vector.new(gps.locate())
turtle.back()
FACING = newpos - POS
print("init with",POS,FACING)
end
local function moveby_y(delta)
local fn = turtle.up
if delta < 0 then fn = turtle.down delta = -delta end
for i=1,delta do fn() end
POS.y = POS.y + delta
end
local function rotatev(v,nq)
-- rotates v by n quarters, clockwise (rightwards)
nq = nq%4
if nq == 0 then return vector.new( v.x, v.y, v.z)
elseif nq == 1 then return vector.new(-v.z, v.y, v.x)
elseif nq == 2 then return vector.new(-v.x, v.y, -v.z)
elseif nq == 3 then return vector.new( v.z, v.y, -v.x)
end
end
local function turn_right()
FACING = rotatev(FACING,1)
turtle.turnRight()
end
local function turn_left()
FACING = rotatev(FACING,-1)
turtle.turnLeft()
end
local function turn_to_face(newfacing)
if newfacing == FACING then return
elseif newfacing == -FACING then turn_right() turn_right()
elseif newfacing == rotatev(FACING,1) then turn_right()
elseif newfacing == rotatev(FACING,-1) then turn_left()
else error("invalid facing "..tostring(newfacing),2)
end
end
local function move_linear(n)
local dir = turtle.forward
if n < 0 then dir = turtle.back end
for i = 1,math.abs(n) do dir() end
POS = POS + FACING*n
end
local function moveby_xz(dv)
if FACING.x ~= 0 then
move_linear(dv:dot(FACING))
if dv.z ~= 0 then
turn_to_face(vector.new(0,0,numutil.sign(dv.z)))
move_linear(dv:dot(FACING))
end
elseif FACING.z ~= 0 then
move_linear(dv:dot(FACING))
if dv.x ~= 0 then
turn_to_face(vector.new(numutil.sign(dv.x),0,0))
move_linear(dv:dot(FACING))
end
end
end
local function moveby(delta)
moveby_y(delta.y)
moveby_xz(delta)
end
local function moveto(target)
print("moving to",target)
moveby(target - POS)
end
local function do_column()
if turtle.detectDown() then
turtle.digDown()
turtle.down()
turtle.digDown()
turtle.up()
end
end
local function dump_and_refuel()
print("dumping produce")
os.sleep(1)
local modem = peripheral.wrap"top"
local self = modem.getNameLocal()
print("i am",self)
local ch = peripheral.find"sc-goodies:diamond_barrel"
for i=1,16 do
ch.pullItems(self, i)
end
while turtle.getFuelLevel() < 2000 do
print("refuelling")
for k,v in pairs(ch.list()) do
if v.name == "minecraft:lava_bucket" then
ch.pushItems(self, k, 1, 1)
turtle.select(1)
turtle.refuel()
ch.pullItems(self, 1)
goto nextfuel
end
goto nofuel
end
::nextfuel::
end
::nofuel::
end
local datum = vector.new(-18, 128, -1837)
local function setup()
turtle_pos_init()
print("i am at",POS,"facing",FACING)
moveto(datum)
turn_to_face(vector.new(0,0,1))
dump_and_refuel()
end
local function loop()
print("harvesting")
repeat
repeat
do_column()
move_linear(1)
until POS.z == -1826
do_column()
turn_right()
move_linear(1)
turn_right()
repeat
do_column()
move_linear(1)
until POS.z == datum.z
do_column()
turn_left()
move_linear(1)
turn_left()
until POS.x <= -29
moveto(datum)
turn_to_face(vector.new(0,0,1))
dump_and_refuel()
os.sleep(120)
end
local function main()
setup()
while true do loop() end
end
while true do
local ok, err = pcall(main)
if not ok then print("err",err) end
os.sleep(5)
end
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