chore: save

miner.lua

@@ -0,0 +1,241 @@
+local robotApi = require('robot')
+local turtleUtils = require('turtle-utils')
+
+local config = {
+  startY = 109,
+  targetY = 109,
+  height = 1,
+  size = 4
+}
+
+local TARGET_Y = config.targetY - config.startY
+local TARGET_Z = config.size - 1
+local TARGET_X = config.size - 1
+
+local MAX_X = TARGET_X
+local MAX_Y = TARGET_Y + (config.height - 1)
+local MAX_Z = TARGET_Z
+
+local LOWER_LIMIT = 2;
+local HIGHER_LIMIT = 128;
+
+local robot = robotApi.create()
+
+local MAX_INVENTORY_BLOCKS = 16 * 64
+local ADDITIONAL_FUEL_NEEDED = 512
+local MIN_FUEL_NEEDED = (size * 2) + TARGET_Y + MAX_INVENTORY_BLOCKS + ADDITIONAL_FUEL_NEEDED
+
+local miner = {
+  robot = robot,
+  mission = 'unload', -- "unload" | "refuel" | "mine" | "return-home" | "return-mine" | nil
+  finished = false
+  lastPositionState = nil -- { x, y, z, dir }
+}
+
+local function isOdd(x)
+  return (x % 2) == 1
+end
+
+local function checkConfig()
+  if config.targetY > config.startY then
+    error('targetY cannot be higher that startY')
+  end
+
+  if config.height < 1 then
+    error('height cannot be lower than 1')
+  end
+
+  if config.size < LOWER_LIMIT then
+    error('size cannot be lower than ' .. LOWER_LIMIT)
+  end
+
+  if config.size > HIGHER_LIMIT then
+    error('size is too large (higher limit is ' .. HIGHER_LIMIT .. ')')
+  end
+
+  if isOdd(config.size) then
+    error('configured size should be even')
+  end
+end
+
+local function prepareTurtle()
+  turtle.select(1)
+end
+
+local function isProgramFinished()
+  if miner.mission ~= nil then
+    return false
+  end
+
+  local robotState = miner.robot.getSate()
+
+  return robotState.x == 0 and robotState.y == 0 and robotState.z == 0
+end
+
+
+local function unloadProcedure()
+  print('> Starting unload procedure...')
+  turtleUtils.waitForInventory('front')
+
+  for i=1, 16, 1 do
+    turtle.select(i)
+    turtleUtils.tryDrop()
+  end
+
+  turtle.select(1)
+
+  miner.mission = 'refuel'
+end
+
+local function refuelProcedure()
+  print('> Starting refuel procedure (' .. turtleUtils.getFuelPercentage() .. '%)')
+  turtleUtils.waitForInventory('top')
+
+  turtle.select(1)
+
+  while turtle.getFuelLevel() < MIN_FUEL_NEEDED do
+    turtleUtils.trySuckUp()
+
+    local ok = turtle.refuel()
+    if not ok then
+      turtleUtils.tryDrop()
+    end
+  end
+
+  print('> Refuel done.')
+  miner.mission = 'return-mine'
+end
+
+local function returnMineProcedure()
+  if miner.robot.finished then
+    miner.mission = nil -- it will stop the loop
+    return
+  end
+
+  if robot.lastPositionState then
+    local robotState = miner.robot.getState()
+
+    if robotState.y > miner.lastPositionState.y then
+      miner.robot.down()
+    elseif robotState.z < miner.lastPositionState.z then
+      miner.robot.forward()
+    else
+      miner.robot.turnRight()
+
+      for i=1, miner.lastPositionState.x, 1 do
+        miner.robot.forward()
+      end
+
+      while miner.robot.getState().dir ~= miner.lastPositionState.dir do
+        miner.robot.turnRight()
+      end
+
+      miner.mission = 'mine'
+    end
+  else
+    miner.mission = 'mine'
+  end
+end
+
+local function mineProcedure()
+  print('> Starting mine procedure...')
+  local robotState = miner.robot.getState()
+  local targetY = TARGET_Y
+  local targetZ = TARGET_Z
+
+  -- 1. Move
+  if robotState.y > targetY then
+    turtle.digDown()
+    miner.robot.down()
+  elseif robotState.dir == 'FORWARD' and robotState.z < targetZ then
+    turtleUtils.digAll()
+    miner.robot.forward()
+  elseif robotState.dir == 'FORWARD' and robotState.z == targetZ then
+    miner.robot.turnRight()
+    turtleUtils.digAll()
+    miner.robot.forward()
+    miner.robot.turnRight()
+  elseif robotState.dir == 'BACKWARD' and robotState.z > 0 then
+    turtleUtils.digAll()
+    miner.robot.forward()
+  elseif robotState.dir == 'BACKWARD' and robotState.z == 0 then
+    miner.robot.turnLeft()
+    turtleUtils.digAll()
+    miner.robot.forward()
+    miner.robot.turnLeft()
+  end
+
+  -- 2. Check
+  if robotState.x == MAX_X and robotState.y == MAX_Y and robotState.z == MAX_Z then
+    miner.finished = true
+    miner.mission = 'return-home'
+    miner.lastPositionState = miner.robot.getState()
+  elseif robotState.x == MAX_X and robotState.z == MAX_Z then
+    -- this part assume that the size of the mine is even
+    miner.robot.turnRight()
+
+    for i=1, config.size - 1, 1 do
+      miner.robot.forward()
+    end
+
+    miner.robot.turnRight()
+    miner.robot.up()
+  end
+
+  if turtleUtils.countFreeSlots() < 1 then
+    miner.mission = 'return-home'
+    miner.lastPositionState = miner.robot.getState()
+  end
+end
+
+local function returnHomeProcedure()
+  print('> Starting return home procedure...')
+  local robotState = miner.robot.getState()
+
+  if robotState.x == 0 and robotState.y == 0 and robotState.z == 0 then
+    miner.mission = 'unload'
+  elseif robotState.x == 0 and robotState.z == 0 then
+    miner.robot.up()
+  elseif robotState.x > 0 then
+    if robotState.dir == 'FORWARD' then
+      miner.robot.turnLeft()
+    elseif robotState.dir == 'BACKWARD' then
+      miner.robot.turnRight()
+    end
+
+    for i=1, robotState.x, 1 do
+      miner.robot.forward()
+    end
+
+    miner.robot.turnLeft()
+  elseif robotState.z > 0 then
+    for i=1, robotState.z, 1 do
+      miner.robot.forward()
+    end
+
+    miner.robot.turnLeft()
+    miner.robot.turnLeft()
+  end
+end
+
+
+checkConfig()
+prepareTurtle()
+
+print("> Miner program started, minimum fuel needed: " .. MIN_FUEL_NEEDED)
+
+while not isProgramFinished() do
+  if miner.mission == 'unload' then
+    unloadProcedure()
+  elseif miner.mission == 'refuel' then
+    refuelProcedure()
+  elseif miner.mission == 'mine' then
+    mineProcedure()
+  elseif miner.mission == 'return-home' then
+    returnHomeProcedure()
+  elseif miner.mission == 'return-mine' then
+    returnMineProcedure()
+  end
+end
+
+print("> Miner program finished!")

robot.lua

@@ -0,0 +1,114 @@
+-- robot api
+
+local api = {}
+
+api.create = function()
+  local state = {
+    y = 0,
+    x = 0,
+    z = 0,
+    -- | BACKWARD | LEFT | RIGHT
+    dir = 'FORWARD'
+  }
+
+  local mutateRobotPosition = function(isBackward)
+    local incValue = 1
+    if isBackward then invValue = -1 end
+
+    if dir == 'FORWARD' then
+      state.z = state.z + incValue
+    elseif dir == 'BACKWARD' then
+      state.z = state.z - incValue
+    elseif dir == 'LEFT' then
+      state.x = state.x - incValue
+    elseif dir == 'RIGHT' then
+      state.x = state.x + incValue
+    end
+  end
+
+  local robot = {}
+
+  robot.forward = function()
+    local ok, err = turtle.forward()
+
+    if ok then
+      mutateRobotPosition(false)
+    end
+
+    return ok, err
+  end
+
+  robot.backward = function()
+    local ok, err = turtle.back()
+
+    if ok then
+      mutateRobotPosition(true)
+    end
+
+    return ok, err
+  end
+
+  robot.up = function()
+    local ok, err = turtle.up()
+
+    if ok then
+      state.y = state.y + 1
+    end
+
+    return ok, err
+  end
+
+  robot.down = function()
+    local ok, err = turtle.down()
+
+    if ok then
+     state.y = state.y - 1
+    end
+
+    return ok, err
+  end
+
+  robot.turnLeft = function()
+    local ok, err = turtle.turnLeft()
+
+    if ok then
+      if state.dir == 'FORWARD' then
+        state.dir = 'LEFT'
+      elseif state.dir == 'LEFT' then
+        state.dir = 'BACKWARD'
+      elseif state.dir == 'RIGHT' then
+        state.dir = 'FORWARD'
+      elseif state.dir == 'BACKWARD' then
+        state.dir = 'RIGHT'
+      end
+    end
+
+    return ok, err
+  end
+
+  robot.turnRight = function()
+    local ok, err = turtle.turnRight()
+
+    if ok then
+      if state.dir == 'FORWARD' then
+        state.dir = 'RIGHT'
+      elseif state.dir == 'LEFT' then
+        state.dir = 'FORWARD'
+      elseif state.dir == 'RIGHT' then
+        state.dir = 'BACKWARD'
+      elseif state.dir == 'BACKWARD' then
+        state.dir = 'LEFT'
+      end
+    end
+
+    return ok, err
+  end
+
+  robot.getState = function()
+    return state
+  end
+
+  return robot
+end
+
+return api

turtle-utils.lua

@@ -0,0 +1,53 @@
+local turtleUtils = {}
+
+local IDLE_TIME = 2
+
+turtleUtils.waitForInventory = function(side)
+  local inv = nil
+
+  while true do
+    inv = peripheral.wrap(side)
+
+    if inv and peripheral.hasType(inv, 'inventory') then
+      break
+    end
+
+    os.sleep(IDLE_TIME)
+  end
+
+  return inv
+end
+
+turtleUtils.trySuckUp = function()
+  while not turtle.suckUp() do
+    os.sleep(IDLE_TIME)
+  end
+end
+
+turtleUtils.tryDrop = function()
+  while not turtle.drop() do
+    os.sleep(IDLE_TIME)
+  end
+end
+
+turtleUtils.digAll = function()
+  while turtle.dig() do end
+end
+
+turtleUtils.countFreeSlots = function()
+  local freeSlots = 0
+
+  for i=1, 16, 1 do
+    if turtle.getItemCount(i) == 0 then
+      freeSlots = freeSlots + 1
+    end
+  end
+
+  return freeSlots
+end
+
+turtleUtils.getFuelPercentage = function()
+  return (turtle.getFuelLevel() / turtle.getFuelLimit()) * 100
+end
+
+return turtleUtils