Stationeers - робот AIMEe 2.0

alias robot d0
alias LedX d1
alias LedY d2
alias LedZ d3
alias LedMode d4
alias LedCharge d5
define LeverHome 1220484876
define Meteo 1997212478
define Doors -566348148 #hangar doors medium
alias mode r1
alias charge r2

define HOMEX -7
define HOMEY 0
define HOMEZ 41
define UNLOADX -11
define UNLOADY 0
define UNLOADZ 37
define MINEX -21
define MINEY -1
define MINEZ 38
define NONE 0
define FOLLOW 1
define MOVE 2
define MINE 3
define UNLOAD 4
define PATH 5
define FULL 6

s LedCharge Color 0
s LedCharge Mode 1
s LedMode Color 6
sb Doors Open 0

start:
yield
l r0 robot On
bnez r0 mining
j start

mining:
sb Doors Open 1
s robot TargetX MINEX
s robot TargetY MINEY
s robot TargetZ MINEZ
jal travel
lb r0 LeverHome Setting 0
bnez r0 home
lb r0 Meteo NextWeatherEventTime 0
bgtz r0 home
l r0 robot MineablesInVicinity
beqz r0 home
s robot Mode MINE
miningwait:
yield
jal display
lb r0 LeverHome Setting 0
bnez r0 home
lb r0 Meteo NextWeatherEventTime 0
bgtz r0 home
beq mode MINE miningwait
bne mode FULL mining

unload:
s robot TargetX UNLOADX
s robot TargetY UNLOADY
s robot TargetZ UNLOADZ
jal travel
s robot Mode UNLOAD
unloadwait:
yield
jal display
beq mode UNLOAD unloadwait
blt charge 0.2 home
lb r0 LeverHome Setting 0
bnez r0 home
lb r0 Meteo NextWeatherEventTime 0
bgtz r0 home
j start

travel:
push ra
s robot Mode MOVE
wait:
yield
jal display
blt charge 0.2 home
l mode robot Mode
beq mode MOVE wait
pop ra
j ra

display:
l r0 robot PositionX
s LedX Setting r0
l r0 robot PositionY
s robot TargetY r0
s LedY Setting r0
l r0 robot PositionZ
s LedZ Setting r0
l mode robot Mode
s LedMode Setting mode
ls charge robot 0 ChargeRatio
s LedCharge Setting charge
j ra

home:
s robot TargetX HOMEX
s robot TargetY HOMEY
s robot TargetZ HOMEZ
jal travel
s robot On 0
sb LeverHome Open 0
sb Doors Open 0
j start