inital commit
This commit is contained in:
MayaTheShy
488
pocketremote.lua
Normal file
488
pocketremote.lua
Normal file
@@ -0,0 +1,488 @@
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-- Touch-Enabled Command Center for Pocket Computer (FIXED)
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-- Monitor and control autonomous mining turtles
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local CHANNEL_SEND = 100
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local CHANNEL_RECEIVE = 101
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local STATUS_CHANNEL = 102
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local modem = peripheral.find("modem")
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if not modem then
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error("No wireless modem found!")
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end
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if pocket then
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pocket.equipBack()
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modem = peripheral.find("modem")
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end
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modem.open(CHANNEL_RECEIVE)
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modem.open(STATUS_CHANNEL)
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local w, h = term.getSize()
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-- Tracked turtles
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local turtles = {}
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local selectedTurtle = nil
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local viewMode = "overview" -- overview, detail, manual
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-- Button system
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local buttons = {}
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local function clearButtons()
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buttons = {}
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end
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local function addButton(x, y, width, height, label, action, color)
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table.insert(buttons, {
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x = x,
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y = y,
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width = width,
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height = height,
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label = label,
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action = action,
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color = color or colors.gray
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})
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end
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local function drawButton(btn, highlight)
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term.setCursorPos(btn.x, btn.y)
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if highlight then
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term.setBackgroundColor(colors.white)
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term.setTextColor(colors.black)
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else
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term.setBackgroundColor(btn.color)
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term.setTextColor(colors.white)
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end
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local text = btn.label
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local padding = math.floor((btn.width - #text) / 2)
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for dy = 0, btn.height - 1 do
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term.setCursorPos(btn.x, btn.y + dy)
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if dy == math.floor(btn.height / 2) then
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term.write(string.rep(" ", padding) .. text .. string.rep(" ", btn.width - padding - #text))
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else
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term.write(string.rep(" ", btn.width))
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end
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end
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term.setBackgroundColor(colors.black)
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term.setTextColor(colors.white)
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end
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local function checkButton(x, y)
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for _, btn in ipairs(buttons) do
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if x >= btn.x and x < btn.x + btn.width and
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y >= btn.y and y < btn.y + btn.height then
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return btn
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end
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end
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return nil
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end
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-- Send command to turtle
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local function sendCommand(turtleID, command, param)
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modem.transmit(CHANNEL_SEND, CHANNEL_RECEIVE, {
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command = command,
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param = param,
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target = turtleID
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})
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end
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-- Helper function to format fuel display
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local function formatFuel(fuel)
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if not fuel then
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return "?"
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elseif fuel == "unlimited" then
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return "INF"
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else
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return tostring(fuel)
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end
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end
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-- Draw UI modes
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local function drawOverview()
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clearButtons()
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term.setBackgroundColor(colors.black)
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term.clear()
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term.setCursorPos(1, 1)
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term.setTextColor(colors.yellow)
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print("=MINING CMD CENTER=")
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term.setTextColor(colors.white)
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local startY = 3
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if #turtles == 0 then
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term.setCursorPos(1, startY)
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print("No turtles online")
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print("Waiting...")
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else
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for i, turtle in ipairs(turtles) do
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if i > 3 then break end -- Max 3 turtles on screen
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local y = startY + (i - 1) * 4
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local selected = (selectedTurtle == i)
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-- Turtle info box
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term.setCursorPos(1, y)
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term.setTextColor(selected and colors.lime or colors.white)
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print(string.format("T-%d [%s]", turtle.turtleID or 0, turtle.mode or "unknown"))
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if turtle.position then
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print(string.format(" %d,%d,%d",
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turtle.position.x or 0,
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turtle.position.y or 0,
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turtle.position.z or 0))
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else
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print(" No GPS")
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end
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print(string.format(" F:%s I:%d",
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formatFuel(turtle.fuel),
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turtle.inventoryCount or 0))
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-- Select button
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addButton(20, y, 6, 2, "SEL", function()
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selectedTurtle = i
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viewMode = "detail"
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end, selected and colors.lime or colors.blue)
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drawButton(buttons[#buttons])
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end
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end
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-- Bottom buttons
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local btnY = h - 3
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addButton(1, btnY, 8, 2, "EXPLORE", function()
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if selectedTurtle and turtles[selectedTurtle] then
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sendCommand(turtles[selectedTurtle].turtleID, "explore")
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end
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end, colors.green)
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addButton(10, btnY, 8, 2, "HOME", function()
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if selectedTurtle and turtles[selectedTurtle] then
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sendCommand(turtles[selectedTurtle].turtleID, "returnHome")
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end
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end, colors.orange)
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addButton(19, btnY, 7, 2, "STOP", function()
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if selectedTurtle and turtles[selectedTurtle] then
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sendCommand(turtles[selectedTurtle].turtleID, "stop")
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end
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end, colors.red)
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for _, btn in ipairs(buttons) do
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drawButton(btn)
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end
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term.setTextColor(colors.white)
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end
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local function drawDetail()
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if not selectedTurtle or not turtles[selectedTurtle] then
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viewMode = "overview"
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drawOverview()
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return
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end
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clearButtons()
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local turtle = turtles[selectedTurtle]
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term.setBackgroundColor(colors.black)
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term.clear()
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term.setCursorPos(1, 1)
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term.setTextColor(colors.yellow)
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print("=TURTLE " .. (turtle.turtleID or "?") .. "=")
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term.setTextColor(colors.white)
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print("")
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print("Mode: " .. (turtle.mode or "unknown"))
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print("Fuel: " .. formatFuel(turtle.fuel))
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if turtle.position then
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print(string.format("Pos: %d,%d,%d",
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turtle.position.x or 0,
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turtle.position.y or 0,
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turtle.position.z or 0))
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else
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print("Pos: No GPS")
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end
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if turtle.homePosition and turtle.position then
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local dist = math.abs((turtle.position.x or 0) - (turtle.homePosition.x or 0)) +
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math.abs((turtle.position.y or 0) - (turtle.homePosition.y or 0)) +
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math.abs((turtle.position.z or 0) - (turtle.homePosition.z or 0))
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print("Home: " .. dist .. " blocks")
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elseif turtle.homePosition then
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print("Home: Set")
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else
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print("Home: Not set")
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end
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print("")
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print("Inventory:")
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if turtle.inventory and #turtle.inventory > 0 then
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for i, item in ipairs(turtle.inventory) do
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if i <= 4 then
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local name = item.name:match("minecraft:(.+)") or item.name
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if #name > 18 then name = name:sub(1, 15) .. "..." end
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print(string.format("%d:%s x%d", item.slot or 0, name, item.count or 0))
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end
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end
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else
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print(" Empty")
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end
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-- Action buttons
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local btnY = h - 7
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addButton(1, btnY, 8, 2, "EXPLORE", function()
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sendCommand(turtle.turtleID, "explore")
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end, colors.green)
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addButton(10, btnY, 8, 2, "HOME", function()
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sendCommand(turtle.turtleID, "returnHome")
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end, colors.orange)
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addButton(19, btnY, 7, 2, "STOP", function()
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sendCommand(turtle.turtleID, "stop")
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end, colors.red)
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btnY = h - 4
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addButton(1, btnY, 12, 2, "MANUAL", function()
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viewMode = "manual"
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sendCommand(turtle.turtleID, "manual")
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end, colors.purple)
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addButton(14, btnY, 12, 2, "SET HOME", function()
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sendCommand(turtle.turtleID, "setHome")
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end, colors.blue)
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addButton(1, h - 1, 12, 2, "< BACK", function()
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viewMode = "overview"
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end, colors.gray)
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for _, btn in ipairs(buttons) do
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drawButton(btn)
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end
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term.setTextColor(colors.white)
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end
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local function drawManual()
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if not selectedTurtle or not turtles[selectedTurtle] then
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viewMode = "overview"
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return
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end
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clearButtons()
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local turtle = turtles[selectedTurtle]
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term.setBackgroundColor(colors.black)
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term.clear()
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term.setCursorPos(1, 1)
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term.setTextColor(colors.red)
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print("=MANUAL CONTROL=")
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term.setTextColor(colors.white)
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print(string.format("T-%d Fuel:%s",
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turtle.turtleID or 0,
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formatFuel(turtle.fuel)))
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-- Movement buttons
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local centerX = 6
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local centerY = 5
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-- Forward
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addButton(centerX, centerY, 3, 2, "W", function()
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sendCommand(turtle.turtleID, "forward")
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end, colors.blue)
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-- Left
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addButton(centerX - 4, centerY + 2, 3, 2, "A", function()
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sendCommand(turtle.turtleID, "turnLeft")
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end, colors.blue)
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-- Back
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addButton(centerX, centerY + 2, 3, 2, "S", function()
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sendCommand(turtle.turtleID, "back")
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end, colors.blue)
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-- Right
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addButton(centerX + 4, centerY + 2, 3, 2, "D", function()
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sendCommand(turtle.turtleID, "turnRight")
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end, colors.blue)
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-- Up/Down
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addButton(centerX + 9, centerY, 4, 2, "UP", function()
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sendCommand(turtle.turtleID, "up")
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end, colors.cyan)
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addButton(centerX + 9, centerY + 2, 4, 2, "DN", function()
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sendCommand(turtle.turtleID, "down")
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end, colors.cyan)
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-- Action buttons
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local actY = centerY + 5
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addButton(1, actY, 6, 2, "DIG", function()
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sendCommand(turtle.turtleID, "dig")
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end, colors.orange)
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addButton(8, actY, 6, 2, "PLACE", function()
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sendCommand(turtle.turtleID, "place")
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end, colors.green)
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addButton(15, actY, 6, 2, "DIGUP", function()
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sendCommand(turtle.turtleID, "digUp")
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end, colors.orange)
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addButton(22, actY, 5, 2, "DIGD", function()
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sendCommand(turtle.turtleID, "digDown")
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end, colors.orange)
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-- Bottom buttons
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addButton(1, h - 3, 8, 2, "HOME", function()
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sendCommand(turtle.turtleID, "returnHome")
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end, colors.orange)
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addButton(10, h - 3, 8, 2, "REFUEL", function()
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sendCommand(turtle.turtleID, "refuel")
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end, colors.lime)
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addButton(19, h - 3, 7, 2, "INFO", function()
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sendCommand(turtle.turtleID, "status")
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end, colors.lightBlue)
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addButton(1, h, 12, 1, "< BACK", function()
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viewMode = "detail"
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end, colors.gray)
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addButton(14, h, 13, 1, "AUTO MODE", function()
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sendCommand(turtle.turtleID, "explore")
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viewMode = "detail"
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end, colors.purple)
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for _, btn in ipairs(buttons) do
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drawButton(btn)
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end
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term.setTextColor(colors.white)
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end
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local function draw()
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if viewMode == "overview" then
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drawOverview()
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elseif viewMode == "detail" then
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drawDetail()
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elseif viewMode == "manual" then
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drawManual()
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end
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end
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-- Handle keyboard input (still works alongside touch)
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local function handleKey(key)
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if viewMode == "manual" then
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local turtle = turtles[selectedTurtle]
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if not turtle then return end
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local cmd = nil
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if key == keys.w then cmd = "forward"
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elseif key == keys.s then cmd = "back"
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elseif key == keys.a then cmd = "turnLeft"
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elseif key == keys.d then cmd = "turnRight"
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elseif key == keys.space then cmd = "up"
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elseif key == keys.leftShift or key == keys.rightShift then cmd = "down"
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elseif key == keys.e then cmd = "dig"
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elseif key == keys.q then cmd = "place"
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end
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if cmd then
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sendCommand(turtle.turtleID, cmd)
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end
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elseif viewMode == "overview" then
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if key >= keys.one and key <= keys.nine then
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local index = key - keys.one + 1
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if turtles[index] then
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selectedTurtle = index
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viewMode = "detail"
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draw()
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end
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end
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end
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end
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-- Handle touch
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local function handleTouch(x, y)
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local btn = checkButton(x, y)
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if btn and btn.action then
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-- Visual feedback
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drawButton(btn, true)
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sleep(0.1)
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drawButton(btn, false)
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-- Execute action
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btn.action()
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draw()
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end
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end
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-- Main loop
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print("Initializing...")
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sleep(0.5)
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draw()
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parallel.waitForAny(
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function()
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-- Touch/click handler
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while true do
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local event, p1, p2, p3 = os.pullEvent()
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if event == "mouse_click" or event == "monitor_touch" then
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handleTouch(p2, p3)
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end
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end
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end,
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function()
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-- Keyboard handler
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while true do
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local event, key = os.pullEvent("key")
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handleKey(key)
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end
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end,
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function()
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-- Status receiver
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while true do
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local event, side, channel, replyChannel, message = os.pullEvent("modem_message")
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if channel == STATUS_CHANNEL and type(message) == "table" and message.type == "status" then
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-- Update or add turtle
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local found = false
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for i, t in ipairs(turtles) do
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if t.turtleID == message.turtleID then
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turtles[i] = message
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found = true
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break
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end
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end
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if not found then
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table.insert(turtles, message)
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if not selectedTurtle then
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selectedTurtle = 1
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end
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end
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draw()
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elseif channel == CHANNEL_RECEIVE and type(message) == "table" and message.status then
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-- Response from turtle
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draw()
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end
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||||
end
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||||
end,
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function()
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-- Refresh display
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||||
while true do
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sleep(2)
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draw()
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||||
end
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||||
end
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||||
)
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611
turtle.lua
Normal file
611
turtle.lua
Normal file
@@ -0,0 +1,611 @@
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-- Advanced Autonomous Mining Turtle (FIXED v3)
|
||||
-- Features: GPS tracking, auto-mining, fuel management, smart navigation
|
||||
|
||||
local CHANNEL_RECEIVE = 100
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||||
local CHANNEL_SEND = 101
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||||
local STATUS_CHANNEL = 102
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||||
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-- State management
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local state = {
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mode = "idle", -- idle, manual, exploring, mining, returning
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position = nil,
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homePosition = nil,
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fuel = 0,
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inventory = {},
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target = nil,
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path = {},
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lastStatusUpdate = 0,
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stuckCounter = 0
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}
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||||
|
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-- Configuration
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||||
local config = {
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minFuelToReturn = 500,
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||||
minFuelToExplore = 1000,
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||||
statusUpdateInterval = 5, -- seconds
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||||
maxStuckAttempts = 3,
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||||
valuableBlocks = {
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["minecraft:coal_ore"] = 1,
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["minecraft:iron_ore"] = 2,
|
||||
["minecraft:gold_ore"] = 3,
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||||
["minecraft:diamond_ore"] = 5,
|
||||
["minecraft:emerald_ore"] = 5,
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||||
["minecraft:redstone_ore"] = 2,
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["minecraft:lapis_ore"] = 2,
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||||
["minecraft:deepslate_coal_ore"] = 1,
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||||
["minecraft:deepslate_iron_ore"] = 2,
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["minecraft:deepslate_gold_ore"] = 3,
|
||||
["minecraft:deepslate_diamond_ore"] = 5,
|
||||
["minecraft:deepslate_emerald_ore"] = 5,
|
||||
["minecraft:deepslate_redstone_ore"] = 2,
|
||||
["minecraft:deepslate_lapis_ore"] = 2,
|
||||
}
|
||||
}
|
||||
|
||||
-- Check for modem
|
||||
local modem = peripheral.find("modem")
|
||||
if not modem then
|
||||
error("No wireless modem found!")
|
||||
end
|
||||
modem.open(CHANNEL_RECEIVE)
|
||||
|
||||
print("Advanced Mining Turtle System")
|
||||
print("ID: " .. os.getComputerID())
|
||||
|
||||
-- GPS Functions
|
||||
local function updatePosition()
|
||||
local x, y, z = gps.locate(2)
|
||||
if x then
|
||||
state.position = {x = math.floor(x), y = math.floor(y), z = math.floor(z)}
|
||||
return true
|
||||
end
|
||||
return false
|
||||
end
|
||||
|
||||
local function setHome()
|
||||
if updatePosition() then
|
||||
state.homePosition = {
|
||||
x = state.position.x,
|
||||
y = state.position.y,
|
||||
z = state.position.z
|
||||
}
|
||||
print("Home set at: " .. state.homePosition.x .. ", " .. state.homePosition.y .. ", " .. state.homePosition.z)
|
||||
return true
|
||||
end
|
||||
print("Failed to get GPS position for home")
|
||||
return false
|
||||
end
|
||||
|
||||
-- Movement tracking
|
||||
local facing = 0 -- 0=North(Z-), 1=East(X+), 2=South(Z+), 3=West(X-)
|
||||
|
||||
local function updateFacingAfterTurn(right)
|
||||
if right then
|
||||
facing = (facing + 1) % 4
|
||||
else
|
||||
facing = (facing - 1) % 4
|
||||
end
|
||||
end
|
||||
|
||||
local function smartForward()
|
||||
local success = turtle.forward()
|
||||
if success and state.position then
|
||||
if facing == 0 then state.position.z = state.position.z - 1
|
||||
elseif facing == 1 then state.position.x = state.position.x + 1
|
||||
elseif facing == 2 then state.position.z = state.position.z + 1
|
||||
elseif facing == 3 then state.position.x = state.position.x - 1
|
||||
end
|
||||
end
|
||||
return success
|
||||
end
|
||||
|
||||
local function smartBack()
|
||||
local success = turtle.back()
|
||||
if success and state.position then
|
||||
if facing == 0 then state.position.z = state.position.z + 1
|
||||
elseif facing == 1 then state.position.x = state.position.x - 1
|
||||
elseif facing == 2 then state.position.z = state.position.z - 1
|
||||
elseif facing == 3 then state.position.x = state.position.x + 1
|
||||
end
|
||||
end
|
||||
return success
|
||||
end
|
||||
|
||||
local function smartUp()
|
||||
local success = turtle.up()
|
||||
if success and state.position then
|
||||
state.position.y = state.position.y + 1
|
||||
end
|
||||
return success
|
||||
end
|
||||
|
||||
local function smartDown()
|
||||
local success = turtle.down()
|
||||
if success and state.position then
|
||||
state.position.y = state.position.y - 1
|
||||
end
|
||||
return success
|
||||
end
|
||||
|
||||
local function smartTurnRight()
|
||||
local success = turtle.turnRight()
|
||||
if success then
|
||||
updateFacingAfterTurn(true)
|
||||
end
|
||||
return success
|
||||
end
|
||||
|
||||
local function smartTurnLeft()
|
||||
local success = turtle.turnLeft()
|
||||
if success then
|
||||
updateFacingAfterTurn(false)
|
||||
end
|
||||
return success
|
||||
end
|
||||
|
||||
-- Fuel management
|
||||
local function updateFuel()
|
||||
state.fuel = turtle.getFuelLevel()
|
||||
return state.fuel
|
||||
end
|
||||
|
||||
local function needsRefuel()
|
||||
return state.fuel ~= "unlimited" and state.fuel < config.minFuelToReturn
|
||||
end
|
||||
|
||||
local function tryRefuel()
|
||||
for slot = 1, 16 do
|
||||
turtle.select(slot)
|
||||
if turtle.refuel(0) then -- Check if it's fuel
|
||||
local count = turtle.getItemCount()
|
||||
if count > 0 then
|
||||
turtle.refuel(1)
|
||||
return true
|
||||
end
|
||||
end
|
||||
end
|
||||
return false
|
||||
end
|
||||
|
||||
-- Inventory management
|
||||
local function updateInventory()
|
||||
state.inventory = {}
|
||||
for slot = 1, 16 do
|
||||
local item = turtle.getItemDetail(slot)
|
||||
if item then
|
||||
table.insert(state.inventory, {
|
||||
slot = slot,
|
||||
name = item.name,
|
||||
count = item.count
|
||||
})
|
||||
end
|
||||
end
|
||||
end
|
||||
|
||||
local function inventoryFull()
|
||||
for slot = 1, 16 do
|
||||
if turtle.getItemCount(slot) == 0 then
|
||||
return false
|
||||
end
|
||||
end
|
||||
return true
|
||||
end
|
||||
|
||||
local function isValuableBlock(blockName)
|
||||
return config.valuableBlocks[blockName] ~= nil
|
||||
end
|
||||
|
||||
-- Check if block is unbreakable
|
||||
local function isUnbreakable(blockName)
|
||||
if not blockName then return false end
|
||||
return string.find(blockName, "bedrock") or string.find(blockName, "barrier")
|
||||
end
|
||||
|
||||
-- Mining functions
|
||||
local function smartDig(direction)
|
||||
direction = direction or "forward"
|
||||
|
||||
local digFunc, inspectFunc
|
||||
if direction == "forward" then
|
||||
digFunc = turtle.dig
|
||||
inspectFunc = turtle.inspect
|
||||
elseif direction == "up" then
|
||||
digFunc = turtle.digUp
|
||||
inspectFunc = turtle.inspectUp
|
||||
elseif direction == "down" then
|
||||
digFunc = turtle.digDown
|
||||
inspectFunc = turtle.inspectDown
|
||||
end
|
||||
|
||||
local hasBlock, data = inspectFunc()
|
||||
if hasBlock then
|
||||
if isUnbreakable(data.name) then
|
||||
return false, false, data.name
|
||||
end
|
||||
local valuable = isValuableBlock(data.name)
|
||||
digFunc()
|
||||
return true, valuable, data.name
|
||||
end
|
||||
return false, false, nil
|
||||
end
|
||||
|
||||
-- Pathfinding (improved with obstacle handling)
|
||||
local function getDistance(pos1, pos2)
|
||||
return math.abs(pos1.x - pos2.x) + math.abs(pos1.y - pos2.y) + math.abs(pos1.z - pos2.z)
|
||||
end
|
||||
|
||||
-- Try to dig and move forward
|
||||
local function forceForward()
|
||||
for i = 1, 5 do
|
||||
if smartForward() then
|
||||
return true
|
||||
end
|
||||
smartDig("forward")
|
||||
sleep(0.3)
|
||||
end
|
||||
return false
|
||||
end
|
||||
|
||||
-- Try to dig and move up
|
||||
local function forceUp()
|
||||
for i = 1, 5 do
|
||||
if smartUp() then
|
||||
return true
|
||||
end
|
||||
smartDig("up")
|
||||
sleep(0.3)
|
||||
end
|
||||
return false
|
||||
end
|
||||
|
||||
-- Try to dig and move down
|
||||
local function forceDown()
|
||||
for i = 1, 5 do
|
||||
if smartDown() then
|
||||
return true
|
||||
end
|
||||
smartDig("down")
|
||||
sleep(0.3)
|
||||
end
|
||||
return false
|
||||
end
|
||||
|
||||
-- Advanced navigation with unstuck logic
|
||||
local function navigateTowards(target)
|
||||
if not state.position or not target then
|
||||
return false
|
||||
end
|
||||
|
||||
local dx = target.x - state.position.x
|
||||
local dy = target.y - state.position.y
|
||||
local dz = target.z - state.position.z
|
||||
|
||||
local lastPos = {x = state.position.x, y = state.position.y, z = state.position.z}
|
||||
|
||||
-- Prioritize vertical movement if needed
|
||||
if math.abs(dy) > 3 then
|
||||
if dy > 0 then
|
||||
if forceUp() then
|
||||
state.stuckCounter = 0
|
||||
return false
|
||||
end
|
||||
else
|
||||
if forceDown() then
|
||||
state.stuckCounter = 0
|
||||
return false
|
||||
end
|
||||
end
|
||||
end
|
||||
|
||||
-- Horizontal movement
|
||||
local targetFacing
|
||||
if math.abs(dx) > math.abs(dz) then
|
||||
targetFacing = dx > 0 and 1 or 3
|
||||
else
|
||||
targetFacing = dz > 0 and 2 or 0
|
||||
end
|
||||
|
||||
-- Face the right direction
|
||||
while facing ~= targetFacing do
|
||||
smartTurnRight()
|
||||
end
|
||||
|
||||
-- Try to move forward
|
||||
if forceForward() then
|
||||
state.stuckCounter = 0
|
||||
else
|
||||
-- Stuck! Try alternative routes
|
||||
state.stuckCounter = state.stuckCounter + 1
|
||||
print("Stuck counter: " .. state.stuckCounter)
|
||||
|
||||
if state.stuckCounter > config.maxStuckAttempts then
|
||||
print("Trying alternative path...")
|
||||
state.stuckCounter = 0
|
||||
|
||||
-- Try going up to go over obstacle
|
||||
if forceUp() then
|
||||
return false
|
||||
end
|
||||
|
||||
-- Try going around
|
||||
smartTurnRight()
|
||||
if forceForward() then
|
||||
return false
|
||||
end
|
||||
|
||||
smartTurnLeft()
|
||||
smartTurnLeft()
|
||||
if forceForward() then
|
||||
return false
|
||||
end
|
||||
|
||||
-- Last resort: dig down and try lower path
|
||||
smartTurnRight()
|
||||
forceDown()
|
||||
end
|
||||
end
|
||||
|
||||
-- Check if we're close enough
|
||||
return getDistance(state.position, target) < 2
|
||||
end
|
||||
|
||||
-- Status broadcasting
|
||||
function broadcastStatus()
|
||||
updateFuel()
|
||||
updateInventory()
|
||||
updatePosition()
|
||||
|
||||
modem.transmit(STATUS_CHANNEL, CHANNEL_RECEIVE, {
|
||||
type = "status",
|
||||
turtleID = os.getComputerID(),
|
||||
mode = state.mode,
|
||||
position = state.position,
|
||||
homePosition = state.homePosition,
|
||||
fuel = state.fuel,
|
||||
inventoryCount = #state.inventory,
|
||||
inventory = state.inventory,
|
||||
facing = facing
|
||||
})
|
||||
end
|
||||
|
||||
-- Return to home with better navigation
|
||||
local function returnHome()
|
||||
print("Returning home...")
|
||||
state.mode = "returning"
|
||||
state.stuckCounter = 0
|
||||
broadcastStatus()
|
||||
|
||||
local maxAttempts = 1000
|
||||
local attempts = 0
|
||||
|
||||
while state.homePosition and state.position and
|
||||
getDistance(state.position, state.homePosition) > 1 and
|
||||
attempts < maxAttempts do
|
||||
|
||||
-- Check for stop command
|
||||
if state.mode ~= "returning" then
|
||||
print("Return cancelled")
|
||||
return
|
||||
end
|
||||
|
||||
updateFuel()
|
||||
if needsRefuel() then
|
||||
print("Low fuel, trying to refuel...")
|
||||
if tryRefuel() then
|
||||
print("Refueled!")
|
||||
else
|
||||
print("WARNING: Out of fuel!")
|
||||
state.mode = "idle"
|
||||
broadcastStatus()
|
||||
return
|
||||
end
|
||||
end
|
||||
|
||||
local arrived = navigateTowards(state.homePosition)
|
||||
if arrived then
|
||||
break
|
||||
end
|
||||
|
||||
attempts = attempts + 1
|
||||
|
||||
-- Update GPS position every few steps
|
||||
if attempts % 10 == 0 then
|
||||
updatePosition()
|
||||
print("Distance to home: " .. getDistance(state.position, state.homePosition))
|
||||
end
|
||||
|
||||
sleep(0.1)
|
||||
end
|
||||
|
||||
if attempts >= maxAttempts then
|
||||
print("Could not reach home - gave up after " .. maxAttempts .. " attempts")
|
||||
else
|
||||
print("Arrived at home!")
|
||||
end
|
||||
|
||||
state.mode = "idle"
|
||||
state.stuckCounter = 0
|
||||
broadcastStatus()
|
||||
end
|
||||
|
||||
-- Exploration algorithm
|
||||
local function exploreStep()
|
||||
-- Check all directions for valuable ores
|
||||
for _, direction in ipairs({"forward", "up", "down"}) do
|
||||
local dug, valuable, blockName = smartDig(direction)
|
||||
if valuable then
|
||||
print("Found: " .. blockName)
|
||||
broadcastStatus()
|
||||
end
|
||||
end
|
||||
|
||||
-- Random exploration with preference for going deeper
|
||||
local r = math.random(1, 10)
|
||||
if r <= 3 then
|
||||
-- Go down 30% of the time
|
||||
if not smartDown() then
|
||||
smartDig("down")
|
||||
smartDown()
|
||||
end
|
||||
elseif r <= 5 then
|
||||
-- Turn
|
||||
if math.random() > 0.5 then
|
||||
smartTurnRight()
|
||||
else
|
||||
smartTurnLeft()
|
||||
end
|
||||
else
|
||||
-- Move forward
|
||||
if not smartForward() then
|
||||
smartDig("forward")
|
||||
if not smartForward() then
|
||||
smartTurnRight()
|
||||
end
|
||||
end
|
||||
end
|
||||
end
|
||||
|
||||
-- Command handling
|
||||
local commands = {
|
||||
forward = function() return smartForward(), "Moved forward" end,
|
||||
back = function() return smartBack(), "Moved back" end,
|
||||
up = function() return smartUp(), "Moved up" end,
|
||||
down = function() return smartDown(), "Moved down" end,
|
||||
turnLeft = function() return smartTurnLeft(), "Turned left" end,
|
||||
turnRight = function() return smartTurnRight(), "Turned right" end,
|
||||
dig = function()
|
||||
local dug, val, name = smartDig("forward")
|
||||
return dug, dug and "Dug: " .. (name or "block") or "Nothing to dig"
|
||||
end,
|
||||
digUp = function()
|
||||
local dug, val, name = smartDig("up")
|
||||
return dug, dug and "Dug up: " .. (name or "block") or "Nothing above"
|
||||
end,
|
||||
digDown = function()
|
||||
local dug, val, name = smartDig("down")
|
||||
return dug, dug and "Dug down: " .. (name or "block") or "Nothing below"
|
||||
end,
|
||||
place = function() return turtle.place(), "Placed" end,
|
||||
select = function(slot) return turtle.select(slot), "Selected slot " .. slot end,
|
||||
refuel = function()
|
||||
local success = tryRefuel()
|
||||
updateFuel()
|
||||
broadcastStatus()
|
||||
return success, success and ("Refueled! Now: " .. state.fuel) or "No fuel"
|
||||
end,
|
||||
status = function() broadcastStatus() return true, "Status sent" end,
|
||||
|
||||
-- Autonomous commands
|
||||
setHome = function() return setHome(), "Home set" end,
|
||||
|
||||
explore = function()
|
||||
print("Explore command received")
|
||||
state.mode = "exploring"
|
||||
state.stuckCounter = 0
|
||||
broadcastStatus()
|
||||
return true, "Starting exploration"
|
||||
end,
|
||||
|
||||
returnHome = function()
|
||||
print("Return home command received")
|
||||
state.mode = "returning"
|
||||
state.stuckCounter = 0
|
||||
broadcastStatus()
|
||||
return true, "Returning home"
|
||||
end,
|
||||
|
||||
stop = function()
|
||||
print("STOP command received")
|
||||
state.mode = "idle"
|
||||
state.stuckCounter = 0
|
||||
broadcastStatus()
|
||||
return true, "Stopped"
|
||||
end,
|
||||
|
||||
manual = function()
|
||||
state.mode = "manual"
|
||||
broadcastStatus()
|
||||
return true, "Manual control"
|
||||
end,
|
||||
}
|
||||
|
||||
-- Process incoming messages
|
||||
local function processMessage(message)
|
||||
if type(message) == "table" and message.command then
|
||||
print("Command: " .. message.command)
|
||||
|
||||
local handler = commands[message.command]
|
||||
if handler then
|
||||
local success, result = handler(message.param)
|
||||
|
||||
modem.transmit(CHANNEL_SEND, CHANNEL_RECEIVE, {
|
||||
status = success and "ok" or "error",
|
||||
message = result or "",
|
||||
turtleID = os.getComputerID()
|
||||
})
|
||||
|
||||
broadcastStatus()
|
||||
end
|
||||
end
|
||||
end
|
||||
|
||||
-- Main loop
|
||||
print("Initializing...")
|
||||
updatePosition()
|
||||
updateFuel()
|
||||
|
||||
if not state.position then
|
||||
print("WARNING: No GPS signal!")
|
||||
print("Limited functionality available")
|
||||
end
|
||||
|
||||
print("Ready! Waiting for commands...")
|
||||
broadcastStatus()
|
||||
|
||||
-- Main execution loop
|
||||
parallel.waitForAny(
|
||||
function()
|
||||
-- Status broadcast loop
|
||||
while true do
|
||||
sleep(config.statusUpdateInterval)
|
||||
broadcastStatus()
|
||||
end
|
||||
end,
|
||||
|
||||
function()
|
||||
-- Command processing loop
|
||||
while true do
|
||||
local event, side, channel, replyChannel, message = os.pullEvent()
|
||||
|
||||
if event == "modem_message" then
|
||||
processMessage(message)
|
||||
end
|
||||
end
|
||||
end,
|
||||
|
||||
function()
|
||||
-- Autonomous execution loop
|
||||
while true do
|
||||
if state.mode == "exploring" then
|
||||
updateFuel()
|
||||
|
||||
-- Check if we should stop
|
||||
if needsRefuel() or inventoryFull() then
|
||||
print("Need to return home")
|
||||
state.mode = "returning"
|
||||
broadcastStatus()
|
||||
else
|
||||
exploreStep()
|
||||
sleep(0.2)
|
||||
end
|
||||
|
||||
elseif state.mode == "returning" then
|
||||
returnHome()
|
||||
|
||||
else
|
||||
-- Idle or manual mode
|
||||
sleep(0.5)
|
||||
end
|
||||
end
|
||||
end
|
||||
)
|
||||
Reference in New Issue
Block a user