Mine with advanced peripherals

-- pastebin get 4SKNxjPs

local pickSlot  = 13
local modemSlot = 14
local geoSlot   = 15
local chestSlot = 16

local pickName  = "minecraft:diamond_pickaxe"
local modemName = "computercraft:wireless_modem_advanced"
local geoName   = "advancedperipherals:geo_scanner"

local minFuel = turtle.getFuelLimit() * 0.25
local maxFuel = turtle.getFuelLimit() * 0.75

local distanceWeight = -2
local blockScoreWeight = 1

local controllerID = 6

local maxY = 9
local minY = 8

local blockScores = {
    ["minecraft:diamond_ore"] = 10,
    ["minecraft:gold_ore"] = 8,
    ["minecraft:iron_ore"] = 5,
    ["minecraft:coal_ore"] = 7,
    ["minecraft:redstone_ore"] = 2,
    ["minecraft:lapis_ore"] = 1,
    ["minecraft:emerald_ore"] = 11,
    ["minecraft:oak_log"] = 9,
    ["minecraft:dark_oak_log"] = 9,
    ["minecraft:birch_log"] = 9,
    ["minecraft:jungle_log"] = 9,
    ["minecraft:acaia_log"] = 9,
    ["minecraft:sand"] = 3
}

local validFuels = {
    ["minecraft:coal_block"] = true,
    ["minecraft:coal"] = true,
    ["minecraft:charcoal"] = true,
    ["minecraft:blaze_rod"] = true
}

sleep(1)--might need to increase to prevent server crash

function Hold(s)
    if turtle.getItemCount(s) == 1 then
        turtle.select(s)
        turtle.equipLeft()
        local i = turtle.getItemDetail()
        if i ~= nil then
            if i.name == pickName then
                turtle.transferTo(pickSlot)
            elseif i.name == geoName then
                turtle.transferTo(geoSlot)
            elseif i.name == modemName then
                turtle.transferTo(modemSlot)
            else
                turtle.transferTo(1)
            end
        end
        turtle.select(1)
    end
end

function Network()
    Hold(modemSlot)
    local x, y, z = gps.locate()
    while x == nil do
        print("waiting for GPS")
        sleep(3)
        x, y, z = gps.locate()
    end
    rednet.open("left")

    function SendUpdate()
        rednet.send(controllerID, {
            ["timestamp"] = os.time(),
            ["id"] = os.getComputerID(),
            ["x"] = x,
            ["y"] = y,
            ["z"] = z,
            ["fuel"] = turtle.getFuelLevel()
        })
    end

    SendUpdate()

    local id, message = nil
    while true do
        print("Waiting for message from controller")
        id, message = rednet.receive(nil, 10)
        if id ~= controllerID then--if nothing send another update
            SendUpdate()
        else
            break
        end
        if message ~= nil and type(message) == "table" then
            --could be a broadcast for new controller
            if message["controllerID"] ~= nil and message["newControllerPassword"] == "dododo" then
                controllerID = message["controllerID"]
            end
        end
    end

    print("Message from controller received")

    if message["distanceWeight"] ~= nil then
        distanceWeight = message["distanceWeight"]
    end

    if message["blockScoreWeight"] ~= nil then
        blockScoreWeight = message["blockScoreWeight"]
    end

    if message["controllerID"] ~= nil then
        controllerID = message["controllerID"]
    end

    if message["blockScores"] ~= nil then
        blockScores = message["blockScores"]
    end

    if message["maxY"] ~= nil then
        maxY = message["maxY"]
    end

    if message["minY"] ~= nil then
        minY = message["minY"]
    end

    rednet.close("left")

    Hold(pickSlot)

    if y > maxY then
        for i = y-1, maxY, -1 do
            Down()
        end
    end

    if y < minY then
        for i = y+1, minY do
            Up()
        end
    end
end

function Scan()
    Hold(geoSlot)
    local geo = peripheral.find("geoScanner")
    local s, r = nil
    while s == nil do
        s, r = geo.scan(8)
        if r ~= nil then
            print(r)
        end
        sleep(2)
    end
    --print(textutils.serialize(s))
    return s
end

function ScoreScan(s, d)
    local hsi, hsv, hsx, hsy, hsz = nil
    for k, v in pairs(s) do
        if blockScores[v.name] ~= nil then
            local score = ((math.abs(v.x) + math.abs(v.y) + math.abs(v.z)) * distanceWeight) + (blockScores[v.name] * blockScoreWeight)

            if v.x == 0 and v.z == 0 then
                score = score * 0.7
            end

            --prefer routes with no turning
            if d == "north" and v.x == 0 and v.z <= 0 then
                score = score * 0.6
            end

            if d == "south" and v.x == 0 and v.z >= 0 then
                score = score * 0.6
            end

            if d == "east" and v.x >= 0 and v.z == 0 then
                score = score * 0.6
            end

            if d == "west" and v.x <= 0 and v.z == 0 then
                score = score * 0.6
            end

            if hsi == nil or score > hsv then
                hsi = k
                hsv = score
                hsx = v.x
                hsy = v.y
                hsz = v.z
            end
        end
    end
    return hsi, hsv, hsx, hsy, hsz
end

function Forward()
    while turtle.forward() == false do
        turtle.dig()
    end
end

function Up()
    while turtle.up() == false do
        turtle.digUp()
    end
end

function Down()
    while turtle.down() == false do
        turtle.digDown()
    end
end

function Dig()
    while turtle.detect() do
        turtle.dig()
    end
end

function DigUp()
    while turtle.detectUp() do
        turtle.digUp()
    end
end

function DigDown()
    while turtle.detectDown() do
        turtle.digDown()
    end
end

local dirs = {
    [1] = "north",
    [2] = "east",
    [3] = "south",
    [4] = "west"
}

function GetIndex(v, t)
    for tk, tv in pairs(t) do
        if tv == v then
            return tk
        end
    end
end

function Left(d)
    turtle.turnLeft()

    local cd = GetIndex(d, dirs)

    nd = cd - 1
    if nd == 0 then
        nd = 4
    end

    print("Facing " .. dirs[nd])
    return dirs[nd]
end

function Right(d)
    turtle.turnRight()

    local cd = GetIndex(d, dirs)

    nd = cd + 1
    if nd == 5 then
        nd = 1
    end

    print("Facing " .. dirs[nd])
    return dirs[nd]
end

function Face(d, nd)
    local cd = GetIndex(d, dirs)
    local td = GetIndex(nd, dirs)

    if cd == td then
        print("Already facing " .. nd)
        return nd
    end

    if cd == 1 and td == 4 then
        turtle.turnLeft()
        print("Facing " .. nd)
        return nd
    end

    if cd == 4 and td == 1 then
        turtle.turnRight()
        print("Facing " .. nd)
        return nd
    end

    if cd < td then
        for i = cd, td - 1 do
            turtle.turnRight()
        end
    end

    if cd > td then
        for i = cd, td + 1, -1 do
            turtle.turnLeft()
        end
    end

    print("Facing " .. nd)
    return nd
end

function Inv()
    Hold(pickSlot)
    DigUp()
    turtle.select(16)
    while turtle.placeUp() == false do
        DigUp()
        turtle.attackUp()
    end
    local c = peripheral.wrap("top")

    while turtle.getItemCount(6) > 0 or turtle.getItemCount(1) > 0 do
        for i = 1, 12 do
            turtle.select(i)
            turtle.dropUp(64)
        end
    end

    if turtle.getFuelLevel() < minFuel then
        local fuelAttempts = 0
        turtle.select(1)
        while turtle.getFuelLevel() < maxFuel do
            local cl = c.list()
            print(cl[1].name)
            if cl[1] ~= nil and validFuels[cl[1].name] then
                turtle.suckUp(cl[1].count - 1)
                turtle.refuel(64)
            else
                print("Waiting for fuel")
            end
            sleep(1)
            fuelAttempts = fuelAttempts + 1
            if fuelAttempts > 10 and turtle.getFuelLevel() > minFuel then
                print("Will try get more fule later")
                break
            end
        end
    end

    turtle.select(16)
    Hold(pickSlot)
    turtle.digUp()
    turtle.select(1)
end

function GetDir()
    Hold(modemSlot)
    local sx, sy, sz = gps.locate()
    while sx == nil do
        print("Coudn't get GPS")
        sleep(3)
        sx, sy, sz = gps.locate()
    end
    Hold(pickSlot)
    Forward()
    Hold(modemSlot)
    local nx, ny, nz = gps.locate()
    while nx == nil do
        print("Coudn't get GPS")
        sleep(3)
        nx, ny, nz = gps.locate()
    end

    turtle.turnLeft()
    turtle.turnLeft()

    Hold(pickSlot)
    Forward()

    turtle.turnLeft()
    turtle.turnLeft()

    if nz > sz then
        return "south"
    end
    if nz < sz then
        return "north"
    end
    if nx > sx then
        return "east"
    end
    if nx < sx then
        return "west"
    end
end

---

if turtle.getItemCount(16) == 0 then
    Hold(pickSlot)
    turtle.select(16)
    turtle.digUp()
end

Inv()

local dir = GetDir()
print("facing " .. dir)

function GotoRel(rx, ry, rz)
    if ry >= 0 then
        for i = 1, ry do
            Up()
        end
    else
        for i = -1, ry, -1 do
            Down()
        end
    end

    if rx > 0 then
        dir = Face(dir, "east")
        for i = 1, rx do
            Forward()
        end
    elseif rx < 0 then
        dir = Face(dir, "west")
        for i = -1, rx, -1 do
            Forward()
        end
    end

    if rz > 0 then
        dir = Face(dir, "south")
        for i = 1, rz do
            Forward()
        end
    elseif rz < 0 then
        dir = Face(dir, "north")
        for i = -1, rz, -1 do
            Forward()
        end
    end
end

function Cycle()
    local scanned = Scan(8)
    Hold(pickSlot)
    for noScanTimes = 1, 20 do
        local hsi, hsv, hsx, hsy, hsz = ScoreScan(scanned)

        if turtle.getItemCount(6) > 0 or turtle.getFuelLevel() < minFuel then
            Inv()
        end

        turtle.select(1)

        -- if nothing found, move forward
        if hsi == nil then
            print("Nothing found")
            for i = 1, 8 do
                Forward()
            end
            return
        else
            print(hsi, hsv, hsx, hsy, hsz)
            GotoRel(hsx, hsy, hsz)
            --offset scanned by moved
            for k, v in pairs(scanned) do
                scanned[k].x = v.x - hsx
                scanned[k].y = v.y - hsy
                scanned[k].z = v.z - hsz
                if scanned[k].x == 0 and scanned[k].y == 0 and scanned[k].z == 0 then
                    scanned[k] = nil
                end
            end
        end
    end
end

while true do
    Network()
    for c = 1, 2 do
        print("c: " .. tostring(c))
        Cycle()
        sleep(0)
    end
end