Mine turtle: first ugly rev.

turtles/mine.lua

@@ -0,0 +1,215 @@
+facing = 0  -- Direction towards mining shafts. Incr. clockwise.
+
+height = 0  -- At ground level, lowest mining level
+MAX_HEIGHT = 7  -- Will not mine higher than this.
+depth = -2  -- Out of the mining shafts
+side = 6  -- Increases towards the right when facing shafts
+
+DOCK_POINT_H = 0
+DOCK_POINT_D = -2
+DOCK_POINT_S = 6
+
+DROP_POINT_H = 0
+DROP_POINT_D = -2
+DROP_POINT_S = 0
+
+FUEL_POINT_H = 0
+FUEL_POINT_D = -2
+FUEL_POINT_S = 3
+
+FUEL_EXPECTATION = 2000
+FUEL_LOW = 1000
+
+SHAFT_DEPTH = 100
+
+function distance_to_drop()
+    return math.abs(depth - DROP_POINT_D)
+    + math.abs(height - DROP_POINT_H)
+    + math.abs(side - DROP_POINT_S);
+end
+
+function distance_to_refuel()
+    local drop_to_fuel = math.abs(FUEL_POINT_D - DROP_POINT_D)
+    + math.abs(FUEL_POINT_H - DROP_POINT_H)
+    + math.abs(FUEL_POINT_S - DROP_POINT_S);
+    return distance_to_drop() + drop_to_fuel;
+end
+
+function turn_abs(dir)
+    local diff = (dir - facing) % 4
+    if diff == 3 then
+        turtle.turnLeft()
+    else
+        for i=1,diff do turtle.turnRight() end
+    end
+    facing = dir
+end
+
+function turn_rel(dir)
+    turn_abs((facing + dir) % 4)
+end
+
+function go_to_depth(dd)
+    turn_abs(0)
+    while depth > dd do
+        turtle.back()
+        depth = depth - 1
+    end
+    while depth < dd do
+        turtle.forward()
+        depth = depth + 1
+    end
+end
+
+
+-- Go to a target position, assuming no excavation is needed
+function go_to(dh, dd, ds)
+    go_to_depth(0)
+
+    while height > dh do
+        turtle.down()
+        height = height - 1
+    end
+    while height < dh do
+        turtle.up()
+        height = height + 1
+    end
+
+    turn_abs(1)
+
+    while side > ds do
+        turtle.back()
+        side = side - 1
+    end
+    while side < ds do
+        turtle.forward()
+        side = side + 1
+    end
+
+    go_to_depth(dd)
+end
+
+-- enter failed/done state
+function abort(msg)
+    print("ABORTING: ")
+    print(msg)
+    go_to(DOCK_POINT_H, DOCK_POINT_D, DOCK_POINT_S)
+    making_a_fatal_error_awdadwdaw()
+end
+
+
+-- Discharge the inventory in the drop chest
+function discharge_inventory()
+    go_to(DROP_POINT_H, DROP_POINT_D, DROP_POINT_S)
+    for slot=1,16 do
+        turtle.select(slot)
+        turtle.dropUp()
+    end
+end
+
+-- Refuel from fuel point
+function refuel_turtle()
+    turtle.select(1)
+    if turtle.getItemCount() > 0 then
+        return false
+    end
+
+    go_to(DROP_POINT_H, DROP_POINT_D, DROP_POINT_S)
+    while turtle.getFuelLevel() < FUEL_EXPECTATION do
+        local rc, desc = turtle.suckUp()
+        if not rc then
+            abort("No more fuel available")
+        end
+        local rc, desc = turtle.refuel()
+        if not rc then
+            abort("Found some non-fuel in the fuel")
+        end
+    end
+end
+
+-- Find the next unmined shaft and end up in front of it
+function find_next_shaft()
+    go_to(0, 0, 0)
+
+    while true do
+        print("Climb")
+        for hei=0,MAX_HEIGHT-1 do
+            if (hei % 3) == 0 then
+                if turtle.detect() then
+                    return
+                end
+            end
+
+            if turtle.detectUp() then
+                turtle.digUp()
+            end
+            if not turtle.up() then abort("Misshaped lobby") end
+            height = height + 1
+        end
+
+        turn_abs(1)
+        for i=0,1 do
+            if turtle.detect() then
+                turtle.dig()
+            end
+            if not turtle.forward() then abort("Misshaped lobby") end
+            side = side + 1
+        end
+        turn_abs(0)
+
+        print("Down")
+        for hei=MAX_HEIGHT-1,0,-1 do
+            if (hei % 3) ~= 0 then
+                if turtle.detect() then
+                    return
+                end
+            end
+
+            if turtle.detectDown() then
+                turtle.digDown()
+            end
+            if not turtle.down() then abort("Misshaped lobby") end
+            height = height - 1
+        end
+
+        turn_abs(1)
+        for i=0,1 do
+            if turtle.detect() then
+                turtle.dig()
+            end
+            if not turtle.forward() then abort("Misshaped lobby") end
+            side = side + 1
+        end
+        turn_abs(0)
+    end
+end
+
+-- Mine a new shaft in front of the turtle
+function mine_shaft()
+    turtle.dig()
+end
+
+-- Main function
+function main()
+    if turtle.getFuelLevel() < FUEL_LOW then
+        refuel_turtle()
+    else
+        print("NO FUEL AT ALL.")
+        return
+    end
+
+    while true do
+        print("Finding shaft")
+        find_next_shaft()
+        print("Mining shaft")
+        mine_shaft()
+
+        print("Discharging")
+        discharge_inventory()
+        if turtle.getFuelLevel() < FUEL_LOW then
+            refuel_turtle()
+        end
+    end
+end
+
+main()