mazeBot2

t = {}

t.x = 0
t.z = 0
t.y = 0
t.dir = 0
t.cal = false

--In Minecraft axis work like this
--0 = SOUTH, z axis goes up
--1 = WEST, x axis goes down
--2 = NORTH, z axis goes down
--3 = EAST, x axis goes up

--math functions to determine length and distance
function math.len(x,y)
    return math.sqrt(x*x + y*y)
end

function math.dist(x1,y1, x2,y2)
    return math.len(x1-x2, y1-y2)
end


function t.forward()
    if t.cal then
        if turtle.forward() then
            if t.dir == 0 then
                t.z = t.z + 1
            elseif t.dir == 1 then
                t.x = t.x - 1
            elseif t.dir == 2 then
                t.z = t.z - 1
            elseif t.dir == 3 then
                t.x = t.x + 1
            end
        end
    else
        print("not calibrated")
    end
end

function t.back()
    if t.cal then
        if turtle.back() then
            if t.dir == 0 then
                t.z = t.z - 1
            elseif t.dir == 1 then
                t.x = t.x + 1
            elseif t.dir == 2 then
                t.z = t.z + 1
            elseif t.dir == 3 then
                t.x = t.x - 1
            end

        end
    else
        print("not calibrated")
    end
end

function t.turnLeft()
    if t.cal then
        turtle.turnLeft()
        t.dir = t.dir + 1
        if t.dir > 3 then t.dir = 0 end
    else
        print("not calibrated")
    end
end

function t.turnRight()
    if t.cal then
        turtle.turnRight()
        t.dir = t.dir - 1
        if t.dir < 0 then t.dir = 3 end
    else
        print("not calibrated")
    end
end

function t.up()
    if t.cal then
        if turtle.up() then
            t.y=t.y+1

        end
    else
        print("not calibrated")
    end
end

function t.down()
    if t.cal then
        if turtle.down() then
            t.y=t.y-1

        end
    else
        print("not calibrated")
    end
end

function t.west()
    while t.dir ~= 1 do
        t.turnLeft()
    end
    t.forward()
end

function t.east()
    while t.dir ~= 3 do
        t.turnLeft()
    end
    t.forward()
end

function t.north()
    while t.dir ~= 2 do
        t.turnLeft()
    end
    t.forward()
end

function t.south()
    while t.dir ~= 0 do
        t.turnLeft()
    end
    t.forward()
end

function t.calibrate()
    local result = true
    local calibrationStones = {}
    t.dir = -1
    while t.dir < 0 do
        turtle.turnLeft()
        if not turtle.detect() then
            --start position is correct
            t.x=0
            t.y=0
            t.z=0
            t.dir=0
        end
    end


    local fuel = turtle.getFuelLevel()
    while fuel<8000 and turtle.refuel(10) do
        sleep(0.2)
    end
    if turtle.getFuelLevel() == 0 then
        result = false
        print("ERROR: No Energy or Fuel")
    end

    if result then
        print("Calibration Successful")
    else
        print("Calibration Failed")
    end

    while t.dir ~= 0 do
        t.turnLeft()
        sleep(0.2)
    end

    t.cal = result

end

function t.flyHome()
    print("returning home from "..t.x..","..t.z)
    local returnHeight = math.random(12,18)

    if t.x+t.y+t.z ~= 0 then
        while t.y < returnHeight do
            t.up()
            sleep(0.2)
        end

        while t.x > 0 do
            t.west()
            sleep(0.2)
        end

        while t.x < 0 do
            t.east()
            sleep(0.2)
        end

        while t.z > 0 do
            t.north()
            sleep(0.2)
        end

        while t.z < 0 do
            t.south()
            sleep(0.2)
        end

        while t.y > 0 do
            t.down()
            sleep(0.2)
        end

        while t.dir ~= 0 do
            t.turnLeft()
            sleep(0.2)
        end

    end
end

function t.sayPlease()
    redstone.setOutput("front",true)
    sleep(2)
    turtle.suckDown(1)
    redstone.setOutput("front",false)
    t.flyHome()
end

function t.checkDistance()
    local xDist
    local zDist
    local yDist = 35
    if t.x > 0 then
        xDist = t.x
    else
        xDist = t.x * -1
    end

    if t.z > 0 then
        zDist = t.z
    else
        zDist = t.z * -1
    end
    local distanceHome = xDist+zDist+yDist
    local fuelLevel = turtle.getFuelLevel()
    print(distanceHome.." "..fuelLevel)
    if fuelLevel < distanceHome then
        print("almost out of fuel, returning home")
        return false
    end
    return true
end

--[[t.calibrate()
if t.cal then
t.forward()
t.forward()
t.forward()
t.forward()
t.turnLeft()
t.forward()
t.forward()
t.forward()
t.forward()
t.forward()
t.turnRight()
t.turnRight()
t.back()
t.back()
t.back()
t.back()
t.flyHome()
end]]