ManaBattery-drone

-- Author: Axten
-- Simple drone program to move a drone from a Botania pool to a set of pools for storing

-- Waypoint range
local range = 16

-- Colors
local colorFill = 0x69fcff
local colorWaiting = 0x9ab7b8
local colorCharging = 0x8de354
local colorMoving = 0xc2a3cf

local function proxyFor(name, required)
    local address = component and component.list(name)()
    if not address and required then
        error("missing component '" .. name .. "'")
    end
    return address and component.proxy(address) or nil
end

local drone = proxyFor("drone", true)
local nav = proxyFor("navigation", true)
local chatbox = proxyFor("chat")

--tracking local position
local px, py, pz = 0, 0, 0

local function moveTo(x, y, z)
    drone.setLightColor(colorMoving)
    if type(x) == "table" then
        x, y, z = x[1], x[2], x[3]
    end
    local rx, ry, rz = x - px, y - py, z - pz
    drone.move(rx, ry, rz)
    while drone.getOffset() > 0.5 or drone.getVelocity() > 0.5 do
        computer.pullSignal(0.5)
    end
    px, py, pz = x, y, z
end

local function moveX(x)
    moveTo(px +x, py, pz)
end

local function moveZ(z)
    moveTo(px, py, pz+z)
end

local function recharge()
    --io.write("recharging")
    moveTo(0, 0, 0)
    drone.setLightColor(colorCharging)
    if computer.energy() < computer.maxEnergy() * 0.1 then
        while computer.energy() < computer.maxEnergy() * 0.9 do
            computer.pullSignal(1)
        end
    end
end

local function getCurrentMana()
    return drone.durability()
end

local function fillBattery(mX, mZ)
    for i= 0, mX  do
        for j= 0, mZ do
            drone.setLightColor(colorWaiting)
            if not dip() then --if ring empty start over
                moveTo(0,0,0)
                return true
            end
            moveZ(1)
        end
        moveX(1)
        moveZ(-j)
    end
end

local function dip()
    repeat
        local prevMana = getCurrentMana()
        drop()
        os.sleep(5)
        suck()
    until getCurrentMana() == 0 or getCurrentMana() == prevMana
    if getCurrentMana() == 0 then
        return false --ring is empty
    else
        return true --pool is full
    end
end


local function suck()
    if  drone.suck() == false then
        chatError("can't suck item")
        return false
    end
end

local function drop()
    if drone.drop(0) == false then
        chatError("can't drop item")
        return false
    end
end

local function chatError(message)
    --io.write("Error: " .. message)
    moveTo(0,0,0)
end

local function updateWaypoints()
    --io.write("updating waypoints")
    waypoints = nav.findWaypoints(range)
end

local function filterWaypoints(filter)
    local result = {}
    for _, w in ipairs(waypoints) do
        if filter(w) then
            table.insert(result, w)
        end
    end
    return result
end


while true do
    recharge()
    updateWaypoints()
    local generators = filterWaypoints(function(w) return w.redstone > 0 end)
    local    battery = filterWaypoints(function(w) return w.redstone < 1 end)

    for _, pool in ipairs(battery) do
        if pool.getLabel == "start" then
        local batteryStartPos=pool.position
        elseif pool.getLabel == "end" then
        local batteryEndPos=pool.position
        end
    end

    if batteryStartPos == nil or batteryEndPos == nil then
        chatError("battery start and end waypoints not defined")
        return false;
    else
        batteryX= math.abs(batteryStartPos[1] - batteryEndPos[1])
        batteryZ= math.abs(batteryStartPos[3] - batteryEndPos[3])
    end

    for _, generator in ipairs(generators) do
        moveTo(generator.position)
        dip()
        drone.setLightColor(colorFill)
    end

    moveTo(batteryStartPos)
    fillBattery()
end