robo.lua

local com = require("component")
local th = require("threads")
local e = require("event")
local nav = require("nav")
local sir = require("serialization")
local robot = require("robot")

local colors = com.colors
local modem = com.modem
local args = {...}

if #args<1 then
  error("Номер робота напиши")
elseif #args<2 then
  error("ещё цвет")
end

th.init()

local m, cordss, times, start, ma, chup, tasks, numar, varo, chm, slot

modem.open(12345)

local color={["red"]={0xff2020,1,2},["blue"]={0x20afff,2,1},["green"]={0xafff20,1,2},["yellow"]={0xffff20,2,1}}

local TEAM_COLOR = color[args[2]][1]

colors.setColor(TEAM_COLOR)
com.robot.setLightColor(TEAM_COLOR)

function ini()
  times, start= 300, false
  tasks={}
  cordss={}
  local ifarr={{7,8,0,0},{7,1,0,9},{19,8,10,0},{18,0,9,10}}
  local raspo={{9,8},{8,9},{9,8},{8,9}}
  local eari={0,2,0,2}

  m=nav:new()
  numar=tonumber(args[1])
  slot=math.random(1,13)
  robot.select(slot)
  local kx=ifarr[numar]
  local dx, dy, axz

  for x=0, raspo[numar][color[args[2]][2]] do
    for z=0, raspo[numar][color[args[2]][3]] do
      if args[2] == "red" then
        dx=((-948)-x-kx[3])
        dz=((639-z)-kx[4])
        axz={x+kx[1],z-kx[2],0,0}
      elseif args[2] == "yellow" then
        dx=((639-z)-kx[3])
        dz=((-966)+x+kx[4])
        axz={z+kx[1],x-kx[2],0,0}
      elseif args[2] == "blue" then
        dx=((-966)+x+kx[3])
        dz=((621+z)+kx[4])
        axz={x+kx[1],z-kx[2],0,0}
      elseif args[2] == "green" then
        dx=((621+z)+kx[3])
        dz=((-948)-x-kx[4])
        axz={z+kx[1],x-kx[2],0,0}
      else
        error("Правильный введи")
      end
      cordss[tostring(dx)..tostring(dz)]=axz
    end
  end
end

function CollectCoin(cordo)
  if cordss[cordo] ~= nil then
    print("Go to: ", cordss[cordo][1], cordss[cordo][2])
    m:go(cordss[cordo])
    robot.suckDown(64)
  end
end

function main()
  while true do
    for k,v in pairs(tasks) do
      CollectCoin(v)
      os.sleep(0.3)
    end
    os.sleep(0)
  end
end

function rmformtbl(varr)
  for k=#tasks,1,-1 do
    if tasks[k] == varr then
      table.remove(tasks, k)
    end
  end
end

function checkup()
  while true do
    local nd=m:getPos()
    if nd.z >= 5 then
      m:stopgo()
    end
    os.sleep(0)
  end
end

function checkm()
  while true do
    if sir.serialize(m:gettarg()) == sir.serialize(cordss[varo]) and start==true then
      m:stopgo()
    end
    os.sleep(0)
  end
end

function clearmap()
  for k, v in pairs(cordss) do
    m:putMap(v,{})
  end
  print("ok")
end

local timero=e.timer(30,clearmap,math.huge)

function eve()
  while true do
    local recv={e.pull("modem_message")}

    if recv[7] and recv[9] then
      if args[2] == "red" then
        var = tostring(recv[7]+1)..tostring(recv[9])
      elseif args[2] == "yellow" then
        var = tostring(recv[9])..tostring(recv[7]+1)
      elseif args[2] == "blue" then
        var = tostring(recv[7]+1)..tostring(recv[9])
      elseif args[2] == "green" then
        var = tostring(recv[9])..tostring(recv[7]+1)
      else
        error("Правильный введи, идиот")
      end
    end
    local var2 = recv[6]

    if var2 == "gamestart" then
      local aone={{11,-1,0},{11,1,0},{22,0,0},{22,0,0}}
      m:go(aone[numar])
      start = true
    end

    if start then
      if var2 == "setcoin" then
        table.insert(tasks, var)
      elseif var2 == "unsetcoin" then
        varo = var
        rmformtbl(var)
      elseif var2 == "time" then
        times=recv[7]
      elseif var2 == "gamestop" then
        start = false
        th.kill(ma)
        while true do
          m:go({0,0,0,0})
          os.sleep(0.1)
          local nda=m:getPos()
          print(sir.serialize(nda))
          if nda.x == 0 and nda.y == 0 and nda.z == 0 and nda.f == 0 then
            break
          end
          m:step()
        end
        th.kill(chup)
        th.kill(chm)
        e.cancel(timero)
        for i=0,3 do
          robot.select(slot+i)
          robot.dropDown()
        end
        break
      end
    end

    if times <= 30 then
      start = false
      th.kill(ma)
      while true do
        m:go({0,0,0,0})
        os.sleep(0.1)
        local nda=m:getPos()
        print(sir.serialize(nda))
        if nda.x == 0 and nda.y == 0 and nda.z == 0 and nda.f == 0 then
          break
        end
        m:step()
      end
      th.kill(chup)
      th.kill(chm)
      e.cancel(timero)
      for i=0,3 do
        robot.select(slot+i)
        robot.dropDown()
      end
      print(sir.serialize(tasks))
      break
    end
    os.sleep(0)
  end
end

th.create(ini)
ma = th.create(main)
chup = th.create(checkup)
th.create(eve)
chm=th.create(checkm)
th.waitForAll()