elevetor_controller.lua

local duration = 0.4
local floors = {}

function tableHas(t, element)
    for i = 1, #t do
        if t[i] == element then
            return true
        end
    end

    return false
end

function get_modem_side()
    for _, sSide in ipairs(rs.getSides()) do
        if peripheral.getType(sSide) == "modem" and peripheral.call(sSide, "isWireless") then
            sModemSide = sSide
            break
        end
    end

    return sModemSide
end

function move(pos_relative)
    print("[Move] move relative" .. pos_relative)

    if pos_relative == 0 then
        return
    end

    if pos_relative > 0 then
        print("[Move] set back to 0")
        redstone.setAnalogOutput("back", 0)
    else
        print("[Move] set back to 1")
        redstone.setAnalogOutput("back", 1)
    end

    redstone.setAnalogOutput("right", 1)

    if pos_relative > 0 then
        print("[Move] sleep for " .. (duration * pos_relative + 0.2))
        sleep(duration * pos_relative + 0.2)
    else
        print("[Move] sleep for " .. (-duration * pos_relative + 0.2))
        sleep(-duration * pos_relative + 0.2)
    end

    redstone.setAnalogOutput("right", 0)
end

function openDoor(pos)
    rednet.broadcast(pos, "open_door")
end

function closeDoor(os)
    rednet.broadcast(nil, "close_door")
end

function Cupdate_floors()
    while true do
        local _, floor = rednet.receive("update_floor")

        if not tableHas(floors, floor) then
            print("[Update floor] Registered level " .. floor)
            table.insert(floors, floor)
            table.sort(floors)

            rednet.broadcast(floors, "update_floors")
        end
    end
end

function Cbroadcast_floors()
    while true do
        sleep(1)
        rednet.broadcast(floors, "update_floors")
    end
end

function Ccontrol()
    while #floors == 0 do
        sleep(2) -- wait for all floors to ready
    end

    print("[Control] floors registered " .. table.concat(floors, ", "))

    local _, current = rednet.receive("current_floor")
    print("[Control] stopped at " .. current)

    local initial_pos = floors[1]

    print("[Control] locate to " .. initial_pos)
    move(initial_pos - current)
    openDoor(initial_pos)

    while true do
        local _, current = rednet.receive("current_floor")
        print("[Control] stopped at " .. current)

        local _, next_pos = rednet.receive("move_to")

        print("[Control] locate to " .. next_pos)
        closeDoor()
        move(next_pos - current)
        openDoor(next_pos)
    end
end

rednet.open(get_modem_side())

parallel.waitForAll(Cupdate_floors, Cbroadcast_floors, Ccontrol)