Lift-Motor

--Lift motor
--###########################
--controller.move(<dir>, <move?>, <Don'tMoveController?>) -> Bools: Are we just testing if we can move? | Should the controller stay where it is? (only the controller, not the computer)

--CONST
    M_SIDE = "left" --Modem side
    C_SIDE = "back" --Controller side
    CHANNEL = 1 --Channel to receive orders from
    DIR = { -- Directions codes used by RIM
            ["down"] = 0,
            ["up"] = 1,
            ["north"] = 2,
            ["south"] = 3,
            ["west"] = 4,
            ["east"] = 5
        }
--

--FUNC

function move(dir, ctrl) --Moves in the given direction using given controller handle (prevents bugs and lift being stuck)
    while true do
        if ctrl.move(dir, true, false) then --We can move
            ctrl.move(dir, false, false) --Moving
            break --Stopping the loop
        else
            print("I'm stuck ! D:")
            os.sleep(5) -- Wait 5 seconds
        end
    end
    os.reboot() --Just in case
end

--

--MAIN
--Wrapping controller and modem
local controller = peripheral.wrap(C_SIDE)
local modem = peripheral.wrap(M_SIDE)
--Open channel
modem.open(CHANNEL)

local pos, dest

--If the config file does not exists, we assume that's the first start and that we are at level 0
if not fs.exists("data/motor") then
    fs.makeDir("data")
    print("File not found, starting at level 0")
    pos = 0
    dest = 0
    --Creating the file
    local f = fs.open("data/motor", 'w')
    f.writeLine(pos)
    f.writeLine(dest)
    f.close()
else --If it exists, we read position and destination
    local file = fs.open("data/motor", 'r')
    pos = tonumber(file.readLine())
    dest = tonumber(file.readLine())
    file.close()
    print("Data found: current = "..pos.."; destination = "..dest)
end

--Moving
if pos ~= dest then --Position is different from destination, we should move
    print("Position not matching destination")
    if pos > dest then  --If we're above, we go down
        print("Moving down")
        pos = pos-1
        --Writing position before moving, because it will shut down the computer
        local f = fs.open("data/motor", 'w')
        f.writeLine(pos)
        f.writeLine(dest)
        f.close()

        move(DIR.down, controller)
    else    --Otherwise we go up
        print("Moving up")
        pos = pos+1
        --
        local f = fs.open("data/motor", 'w')
        f.writeLine(pos)
        f.writeLine(dest)
        f.close()

        move(DIR.up, controller)
    end

    os.reboot()--
end

-- Waiting loop
while true do
    --Getting messages
    local event = {os.pullEvent("modem_message")}

    if tonumber(event[5]) ~= nil then --The message is a number
        --Say you got the message (used in the call buttons)
        modem.transmit(CHANNEL, CHANNEL, "pong")
        --Writing down the destination before rebooting after the loop
        dest = tonumber(event[5])
        local f = fs.open("data/motor", 'w')
        f.writeLine(pos)
        f.writeLine(dest)
        f.close()
        break --Stopping the loop
    end
end

os.reboot()