inital commit
This commit is contained in:
MayaTheShy
611
turtle.lua
Normal file
611
turtle.lua
Normal file
@@ -0,0 +1,611 @@
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-- Advanced Autonomous Mining Turtle (FIXED v3)
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-- Features: GPS tracking, auto-mining, fuel management, smart navigation
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local CHANNEL_RECEIVE = 100
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local CHANNEL_SEND = 101
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local STATUS_CHANNEL = 102
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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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-- 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,
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["minecraft:gold_ore"] = 3,
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["minecraft:diamond_ore"] = 5,
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["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,
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["minecraft:deepslate_diamond_ore"] = 5,
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["minecraft:deepslate_emerald_ore"] = 5,
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["minecraft:deepslate_redstone_ore"] = 2,
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["minecraft:deepslate_lapis_ore"] = 2,
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}
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}
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-- Check for modem
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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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modem.open(CHANNEL_RECEIVE)
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print("Advanced Mining Turtle System")
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print("ID: " .. os.getComputerID())
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-- GPS Functions
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local function updatePosition()
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local x, y, z = gps.locate(2)
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if x then
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state.position = {x = math.floor(x), y = math.floor(y), z = math.floor(z)}
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return true
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end
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return false
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end
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local function setHome()
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if updatePosition() then
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state.homePosition = {
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x = state.position.x,
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y = state.position.y,
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z = state.position.z
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}
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print("Home set at: " .. state.homePosition.x .. ", " .. state.homePosition.y .. ", " .. state.homePosition.z)
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return true
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end
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print("Failed to get GPS position for home")
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return false
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end
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-- Movement tracking
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local facing = 0 -- 0=North(Z-), 1=East(X+), 2=South(Z+), 3=West(X-)
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local function updateFacingAfterTurn(right)
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if right then
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facing = (facing + 1) % 4
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else
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facing = (facing - 1) % 4
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end
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end
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local function smartForward()
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local success = turtle.forward()
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if success and state.position then
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if facing == 0 then state.position.z = state.position.z - 1
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elseif facing == 1 then state.position.x = state.position.x + 1
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elseif facing == 2 then state.position.z = state.position.z + 1
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elseif facing == 3 then state.position.x = state.position.x - 1
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end
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end
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return success
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end
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local function smartBack()
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local success = turtle.back()
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if success and state.position then
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if facing == 0 then state.position.z = state.position.z + 1
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elseif facing == 1 then state.position.x = state.position.x - 1
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elseif facing == 2 then state.position.z = state.position.z - 1
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elseif facing == 3 then state.position.x = state.position.x + 1
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end
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end
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return success
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end
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local function smartUp()
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local success = turtle.up()
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if success and state.position then
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state.position.y = state.position.y + 1
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end
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return success
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end
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local function smartDown()
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local success = turtle.down()
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if success and state.position then
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state.position.y = state.position.y - 1
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end
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return success
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end
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local function smartTurnRight()
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local success = turtle.turnRight()
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if success then
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updateFacingAfterTurn(true)
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end
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return success
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end
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local function smartTurnLeft()
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local success = turtle.turnLeft()
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if success then
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updateFacingAfterTurn(false)
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end
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return success
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end
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-- Fuel management
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local function updateFuel()
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state.fuel = turtle.getFuelLevel()
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return state.fuel
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end
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local function needsRefuel()
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return state.fuel ~= "unlimited" and state.fuel < config.minFuelToReturn
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end
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local function tryRefuel()
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for slot = 1, 16 do
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turtle.select(slot)
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if turtle.refuel(0) then -- Check if it's fuel
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local count = turtle.getItemCount()
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if count > 0 then
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turtle.refuel(1)
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return true
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end
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end
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end
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return false
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end
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-- Inventory management
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local function updateInventory()
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state.inventory = {}
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for slot = 1, 16 do
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local item = turtle.getItemDetail(slot)
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if item then
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table.insert(state.inventory, {
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slot = slot,
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name = item.name,
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count = item.count
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})
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end
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end
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end
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local function inventoryFull()
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for slot = 1, 16 do
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if turtle.getItemCount(slot) == 0 then
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return false
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end
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end
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return true
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end
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local function isValuableBlock(blockName)
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return config.valuableBlocks[blockName] ~= nil
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end
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-- Check if block is unbreakable
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local function isUnbreakable(blockName)
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if not blockName then return false end
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return string.find(blockName, "bedrock") or string.find(blockName, "barrier")
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end
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-- Mining functions
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local function smartDig(direction)
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direction = direction or "forward"
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local digFunc, inspectFunc
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if direction == "forward" then
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digFunc = turtle.dig
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inspectFunc = turtle.inspect
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elseif direction == "up" then
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digFunc = turtle.digUp
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inspectFunc = turtle.inspectUp
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elseif direction == "down" then
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digFunc = turtle.digDown
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inspectFunc = turtle.inspectDown
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end
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local hasBlock, data = inspectFunc()
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if hasBlock then
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if isUnbreakable(data.name) then
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return false, false, data.name
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end
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local valuable = isValuableBlock(data.name)
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digFunc()
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return true, valuable, data.name
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end
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return false, false, nil
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end
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-- Pathfinding (improved with obstacle handling)
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local function getDistance(pos1, pos2)
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return math.abs(pos1.x - pos2.x) + math.abs(pos1.y - pos2.y) + math.abs(pos1.z - pos2.z)
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end
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-- Try to dig and move forward
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local function forceForward()
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for i = 1, 5 do
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if smartForward() then
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return true
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end
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smartDig("forward")
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sleep(0.3)
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end
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return false
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end
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-- Try to dig and move up
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local function forceUp()
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for i = 1, 5 do
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if smartUp() then
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return true
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end
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smartDig("up")
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sleep(0.3)
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end
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return false
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end
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-- Try to dig and move down
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local function forceDown()
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for i = 1, 5 do
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if smartDown() then
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return true
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end
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smartDig("down")
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sleep(0.3)
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end
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return false
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end
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-- Advanced navigation with unstuck logic
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local function navigateTowards(target)
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if not state.position or not target then
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return false
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end
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local dx = target.x - state.position.x
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local dy = target.y - state.position.y
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local dz = target.z - state.position.z
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local lastPos = {x = state.position.x, y = state.position.y, z = state.position.z}
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-- Prioritize vertical movement if needed
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if math.abs(dy) > 3 then
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if dy > 0 then
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if forceUp() then
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state.stuckCounter = 0
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return false
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end
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else
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if forceDown() then
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state.stuckCounter = 0
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return false
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end
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end
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end
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-- Horizontal movement
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local targetFacing
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if math.abs(dx) > math.abs(dz) then
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targetFacing = dx > 0 and 1 or 3
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else
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targetFacing = dz > 0 and 2 or 0
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end
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-- Face the right direction
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while facing ~= targetFacing do
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smartTurnRight()
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end
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-- Try to move forward
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if forceForward() then
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state.stuckCounter = 0
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else
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-- Stuck! Try alternative routes
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state.stuckCounter = state.stuckCounter + 1
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print("Stuck counter: " .. state.stuckCounter)
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if state.stuckCounter > config.maxStuckAttempts then
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print("Trying alternative path...")
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state.stuckCounter = 0
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-- Try going up to go over obstacle
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if forceUp() then
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return false
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end
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-- Try going around
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smartTurnRight()
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if forceForward() then
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return false
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end
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smartTurnLeft()
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smartTurnLeft()
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if forceForward() then
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return false
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end
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-- Last resort: dig down and try lower path
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smartTurnRight()
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forceDown()
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end
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end
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-- Check if we're close enough
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return getDistance(state.position, target) < 2
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end
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-- Status broadcasting
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function broadcastStatus()
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updateFuel()
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updateInventory()
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updatePosition()
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modem.transmit(STATUS_CHANNEL, CHANNEL_RECEIVE, {
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type = "status",
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turtleID = os.getComputerID(),
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mode = state.mode,
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position = state.position,
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homePosition = state.homePosition,
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fuel = state.fuel,
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inventoryCount = #state.inventory,
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inventory = state.inventory,
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facing = facing
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})
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end
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-- Return to home with better navigation
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local function returnHome()
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print("Returning home...")
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state.mode = "returning"
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state.stuckCounter = 0
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broadcastStatus()
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local maxAttempts = 1000
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local attempts = 0
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while state.homePosition and state.position and
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getDistance(state.position, state.homePosition) > 1 and
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attempts < maxAttempts do
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-- Check for stop command
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if state.mode ~= "returning" then
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print("Return cancelled")
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return
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end
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updateFuel()
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if needsRefuel() then
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print("Low fuel, trying to refuel...")
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if tryRefuel() then
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print("Refueled!")
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else
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print("WARNING: Out of fuel!")
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state.mode = "idle"
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broadcastStatus()
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return
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end
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end
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local arrived = navigateTowards(state.homePosition)
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if arrived then
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break
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end
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attempts = attempts + 1
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-- Update GPS position every few steps
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if attempts % 10 == 0 then
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updatePosition()
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print("Distance to home: " .. getDistance(state.position, state.homePosition))
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end
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sleep(0.1)
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end
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if attempts >= maxAttempts then
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print("Could not reach home - gave up after " .. maxAttempts .. " attempts")
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else
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print("Arrived at home!")
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end
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state.mode = "idle"
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state.stuckCounter = 0
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broadcastStatus()
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end
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-- Exploration algorithm
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local function exploreStep()
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-- Check all directions for valuable ores
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for _, direction in ipairs({"forward", "up", "down"}) do
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local dug, valuable, blockName = smartDig(direction)
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if valuable then
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print("Found: " .. blockName)
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broadcastStatus()
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end
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end
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-- Random exploration with preference for going deeper
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local r = math.random(1, 10)
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if r <= 3 then
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-- Go down 30% of the time
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if not smartDown() then
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smartDig("down")
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smartDown()
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end
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elseif r <= 5 then
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-- Turn
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if math.random() > 0.5 then
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smartTurnRight()
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else
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smartTurnLeft()
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end
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else
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-- Move forward
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if not smartForward() then
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smartDig("forward")
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if not smartForward() then
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smartTurnRight()
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end
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end
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end
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end
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-- Command handling
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local commands = {
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forward = function() return smartForward(), "Moved forward" end,
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back = function() return smartBack(), "Moved back" end,
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up = function() return smartUp(), "Moved up" end,
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down = function() return smartDown(), "Moved down" end,
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turnLeft = function() return smartTurnLeft(), "Turned left" end,
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turnRight = function() return smartTurnRight(), "Turned right" end,
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dig = function()
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local dug, val, name = smartDig("forward")
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return dug, dug and "Dug: " .. (name or "block") or "Nothing to dig"
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end,
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digUp = function()
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local dug, val, name = smartDig("up")
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return dug, dug and "Dug up: " .. (name or "block") or "Nothing above"
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end,
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digDown = function()
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local dug, val, name = smartDig("down")
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return dug, dug and "Dug down: " .. (name or "block") or "Nothing below"
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end,
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place = function() return turtle.place(), "Placed" end,
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select = function(slot) return turtle.select(slot), "Selected slot " .. slot end,
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refuel = function()
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local success = tryRefuel()
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updateFuel()
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broadcastStatus()
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return success, success and ("Refueled! Now: " .. state.fuel) or "No fuel"
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end,
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status = function() broadcastStatus() return true, "Status sent" end,
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-- Autonomous commands
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setHome = function() return setHome(), "Home set" end,
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explore = function()
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print("Explore command received")
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state.mode = "exploring"
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state.stuckCounter = 0
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broadcastStatus()
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return true, "Starting exploration"
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end,
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returnHome = function()
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print("Return home command received")
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state.mode = "returning"
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state.stuckCounter = 0
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broadcastStatus()
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return true, "Returning home"
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end,
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stop = function()
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print("STOP command received")
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state.mode = "idle"
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state.stuckCounter = 0
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broadcastStatus()
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return true, "Stopped"
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end,
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manual = function()
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state.mode = "manual"
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broadcastStatus()
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return true, "Manual control"
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end,
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}
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-- Process incoming messages
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local function processMessage(message)
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if type(message) == "table" and message.command then
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print("Command: " .. message.command)
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local handler = commands[message.command]
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if handler then
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local success, result = handler(message.param)
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modem.transmit(CHANNEL_SEND, CHANNEL_RECEIVE, {
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status = success and "ok" or "error",
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message = result or "",
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||||
turtleID = os.getComputerID()
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})
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broadcastStatus()
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end
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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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updatePosition()
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updateFuel()
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||||
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if not state.position then
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print("WARNING: No GPS signal!")
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print("Limited functionality available")
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end
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||||
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print("Ready! Waiting for commands...")
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broadcastStatus()
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-- 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