API

-- Turtle API(Self-tracking System&Navigation) created by Latias1290 and edited by martijnenco.

local xPos, yPos, zPos = nil
cal = false

function saveMetaData( ... ) --[1] = event, [2] = true or false, [3] = howfar it was on it.
    MetaData.MetaData.coords.x = xPos
    MetaData.MetaData.coords.y = yPos
    MetaData.MetaData.coords.z = zPos
    MetaData.MetaData.coords.orientation = face
    if arg[1] ~= nil and arg[2] ~= nil and arg[3] ~= nil then
        MetaData.MetaData.lastKnown.event = arg[1]
        MetaData.MetaData.lastKnown.bool = arg[2]
        MetaData.MetaData.lastKnown.howfar = arg[3]
    end
    local file = fs.open("MetaData",'w')
    file.write("MetaData = ")
    file.write(textutils.serialize(MetaData.MetaData))
    file.close()
end

function setLocation(t)
    local x,y,z = gps.locate(t)
    if x ~= nil then
        xPos, yPos, zPos = x,y,z
        cal = true
        return true
    else
        return false
    end
end

function getLocation()
    if xPos ~= nil then
        return xPos, yPos, zPos
    elseif xPos == nil then
        return nil
    end
end

function turnRight()
    turtle.turnRight()
    if face == 0 then
        face = 1
    elseif face == 1 then
        face = 2
    elseif face == 2 then
        face = 3
    elseif face == 3 then
        face = 0
    end
    saveMetaData()
    return true
end

function turnLeft()
    turtle.turnLeft()
    if face == 0 then
        face = 3
    elseif face == 1 then
        face = 0
    elseif face == 2 then
        face = 1
    elseif face == 3 then
        face = 2
    end
    saveMetaData()
    return true
end

function forward()
    if cal == true then
        if turtle.forward() then
            if face == 0 then
                zPos = zPos + 1
            elseif face == 1 then
                xPos = xPos - 1
            elseif face == 2 then
                zPos = zPos - 1
            elseif face == 3 then
                xPos = xPos + 1
            end
            saveMetaData()
            return true
        else
            return false
        end
    else
        print("Not Calibrated.")
        return false
    end
end

function back()
    if cal == true then
        if turtle.back() then
            if face == 0 then
                zPos = zPos - 1
            elseif face == 1 then
                xPos = xPos + 1
            elseif face == 2 then
                zPos = zPos + 1
            elseif face == 3 then
                xPos = xPos - 1
            end
            saveMetaData()
            return true
        else
            return false
        end
    else
        print("Not Calibrated.")
        return false
    end
end

function up()
 if cal == true then
    if turtle.up() then
        yPos = yPos + 1
        saveMetaData()
        return true
    else
        print("Obstructed")
        return false
    end
 else print("Not Calibrated") return false end
end

function down()
 if cal == true then
    if turtle.down() then
        yPos = yPos - 1
        saveMetaData()
        return true
    else
        print("Obstructed")
        return false
    end
 else print("Not Calibrated") return false end
end

function compass()
    i = nil
    turtle.up()
    setLocation(2)
    local x1, y1, z1 = getLocation()
    while turtle.forward() == false do turtle.dig() turtle.attack() os.sleep(0.5) end
    setLocation(2)
    local x2, y2, z2 = getLocation()
    if x1 == nil or y1 == nil or z1 == nil or x2 == nil or y2 == nil or z2 == nil then print("No Gps..") i = false
    elseif x1 - x2 == 0 and z1 - z2 == 0 then
    elseif x1 - x2 < 0 then face = 3 i = true w = 'east'
    elseif x1 - x2 > 0 then face = 1 i = true w = 'west'
    elseif z1 - z2 < 0 then face = 0 i = true w = 'south'
    elseif z1 - z2 > 0 then face = 2 i = true w = 'north'
    end
    while turtle.back() == false do os.sleep(0.5) end
    x1, x2, y1, y2, z1, z2 = nil
    turtle.down()
    setLocation(2)
    if i == false then
        return false
    else
        return face, w
    end
end

function refuel()
    turtle.select(1)
    if turtle.getFuelLevel() <= 500 then
        if turtle.getItemCount(1) <= 15 then
            if turtle.getItemCount(1) <= 1 then
                return false
            else
                print("(Nearly) out of fuel/coal..")
                turtle.refuel(turtle.getItemCount(1) - 1)
                return true
            end
        else
            turtle.refuel(10)
            return true
        end
    else return true
    end
end

function decrypt(x)
    teller = 0
    vard = {}
    for i in string.gmatch(tostring(x.message),"[^.]+") do
        if teller == 0 then
            idd = tonumber(i)
        elseif teller == 1 then
            eventd = tostring(i)
        else
            vard[teller] = tostring(i)
        end
        teller = teller + 1
    end
    return idd, eventd, vard[2], vard[3], vard[4], vard[5], vard[6]
end

function pullEvent_Modem_Message()
    bevent, bvar1, bvar2, bvar3, bvar4, bvar5 = os.pullEvent('modem_message')
end
function pullEvent_Keys()
    bevent, bvar1 = os.pullEvent('key')
end
function pullEvent_Time_Out()
    os.sleep(0.05)
    bTimer = os.startTimer(0.05)
    bevent, bvar1 = os.pullEvent("timer")
end
function pullEvent2()
    parallel.waitForAny(pullEvent_Modem_Message, pullEvent_Keys)
    return bevent, bvar1, bvar2, bvar3, bvar4, bvar5
end

function turn(side)
    while face ~= side do
        turnLeft()
    end
end

local function move(fud, care)
    if fud == 'forward' then
        if forward() then
        else
            if turtle.attack() then
            else
                a, b = turtle.inspect()
                if b.name == "ComputerCraft:CC-Turtle" then
                    print("blocked by a turtle...")
                    os.sleep(2)
                else
                    if turtle.dig() then else refuel() end
                end
            end
        end
    elseif fud == 'down' then
        if down() then
        else
            if turtle.attackDown() then
            else
                a, b = turtle.inspectDown()
                if b.name == "ComputerCraft:CC-Turtle" then
                    print("blocked by a turtle...")
                    os.sleep(2)
                else
                    if turtle.dig() then else refuel() end
                end
            end
        end
    elseif fud == 'up' then
        if up() then
            else
                a, b = turtle.inspectUp()
                if b.name == "ComputerCraft:CC-Turtle" then
                    print("blocked by a turtle...")
                    os.sleep(2)
                else
                    if turtle.dig() then else refuel() end
                end
            end
    end
end

function toLocation(x, y, z, height, care)
    if y <= 0 then print("Unvalid Y coordinate") return false end
    print('To:   '..x..' '..y..' '..z..' @Height: '..height)
    print('From: '..xPos..' '..yPos..' '..zPos)

    if (height - yPos) > 0 then -- go up
        while yPos ~= height do
            move('up', care)
        end
    elseif (height - yPos) < 0 then
        while yPos ~= height do
            move('down', care)
        end
    end

    if height == 100 then
        if (x - xPos) < 0 then
            turn(1)
            while x - xPos ~= 0 do
                move('forward', care)
            end
        elseif (x - xPos) > 0 then
            turn(3)
            while x - xPos ~= 0 do
                move('forward', care)
            end
        end
        if (z - zPos) < 0 then
            turn(2)
            while z - zPos ~= 0 do
                move('forward', care)
            end
        elseif (z - zPos) > 0 then
            turn(0)
            while z - zPos ~= 0 do
                move('forward', care)
            end
        end

    else
        if (z - zPos) < 0 then
            turn(2)
            while z - zPos ~= 0 do
                move('forward', care)
            end
        elseif (z - zPos) > 0 then
            turn(0)
            while z - zPos ~= 0 do
                move('forward', care)
            end
        end
        if (x - xPos) < 0 then
            turn(1)
            while x - xPos ~= 0 do
                move('forward', care)
            end
        elseif (x - xPos) > 0 then
            turn(3)
            while x - xPos ~= 0 do
                move('forward', care)
            end
        end
    end

    if (y - yPos) > 0 then --go down again
        while yPos ~= y do
            move('up', care)
        end
    elseif (y - yPos) < 0 then
        while yPos ~= y do
            move('down', care)
        end
    end
end

if fs.exists("MetaData") then else
    local file = fs.open("MetaData", "w")
    file.write("MetaData = {coords = {x = 0, y = 0, z = 0, orientation = 0,}, lastKnown = {event = '', bool = false, howfar = 0,}}")
    file.close()
end
if setLocation(2) then if compass() then end end
os.loadAPI("MetaData")