digger

----------------------------------------------
--          Gemakson Alex 08.2019           --
----------------------------------------------
local r = require("robot")
local component = require("component")
local computer = require("computer")
local gen = component.generator
local ic = component.inventory_controller
local lvl = 0
local tick = 0
local fPosition = {y = 0, rotation = 1}
local currentPosition = {x = 0, y = 0, z = 0, rotation = 1}
local targetPosition = {x = 0, y = 0, z = 0, rotation = 1}
local a = 0
local b = 0
local c = 0
local spiralPhase = 0
----------------------------------------------
local genInsertFuel_ = true
local cleanInv_ = true
local checkLvl_ = true
local equipTool_ = true
local checkEnergyLevel_ = true
----------------------------------------------
local cleanInvSleep = 10
local insertFuelSleep = 4
local checkLvlSleep = 10
----------------------------------------------
local excavationPhase = 0
----------------------------------------------
local lastPosition = {x = 0, y = 0, z = 0, rotation = 1, tx = 0, ty = 0, tz = 0, trotation = 1}
----------------------------------------------
function Notifications(code)
    if code == 1 then print("Внимание! Не осталось угля!") end
    if code == 2 then print("Уровень повышен до " .. math.floor(r.level()) .. "!") end
    if code == 3 then print("Ошибка! Перемещение невозможно!") end
    if code == 4 then print("Осталось " .. math.floor(computer.energy() * 100 / computer.maxEnergy()) .. " % заряда!") end
    if code == 5 then print("Возвращение на стартовую точку!") end
    if code == 6 then print("Текущие координаты \nX: " .. currentPosition.x .. " Z: "
        .. currentPosition.z .. " Y: " .. currentPosition.y .. "\nrotation: "
        .. currentPosition.rotation) end
end
function CheckLevel()
    if checkLvl == true then
        if math.floor(r.level()) > lvl then
            lvl = math.floor(r.level())
            Notifications(2)
        end
    end
end
function Move(dirrection)
    if dirrection == 1 then
        for i = 1, 20 do
            if r.forward() == true then
                if currentPosition.rotation == 1 then
                    currentPosition.z = currentPosition.z - 1 end
                if currentPosition.rotation == 2 then
                    currentPosition.x = currentPosition.x + 1 end
                if currentPosition.rotation == 3 then
                    currentPosition.z = currentPosition.z + 1 end
                if currentPosition.rotation == 4 then
                    currentPosition.x = currentPosition.x - 1 end
                break
            end
            if i == 20 then Notifications(3) end
        end
    end
    if dirrection == 2 then
        for i = 1, 20 do
            if r.up() == true then
                currentPosition.y = currentPosition.y + 1
                break
            end
            if i == 20 then Notifications(3) end
        end
    end
    if dirrection == 3 then
        for i = 1, 20 do
            if r.down() == true then
                currentPosition.y = currentPosition.y - 1
                break
            end
            if i == 20 then Notifications(3) end
        end
    end
end
function Turn(mode)
    if mode == 1 then
        r.turnLeft()
        if currentPosition.rotation > 1 then
            currentPosition.rotation = currentPosition.rotation - 1
        else
            currentPosition.rotation = 4
        end
    else
        r.turnRight()
        if currentPosition.rotation < 4 then
            currentPosition.rotation = currentPosition.rotation + 1
        else
            currentPosition.rotation = 1
        end
    end
end
function Swing(dirrection)
    if r.durability() ~= false then
        if dirrection == 1 then
            if r.detect() == true then
                r.swing()
            end
        end
        if dirrection == 2 then
            if r.detectUp() == true then
                r.swingUp()
            end
        end
        if dirrection == 3 then
            if r.detectDown() == true then
                r.swingDown()
            end
        end
    end
end
function GenInsertFuel()
    if genInsertFuel_ == true then
        if gen.count() < 32 then
            for i = 1, r.inventorySize() do
                if r.count(i) ~= 0 then
                    if ic.getStackInInternalSlot(i).name == "minecraft:coal" and gen.count() < 32 then
                        r.select(i)
                        if r.count(i) <= 32 - gen.count() then
                            gen.insert(r.count(i))
                        else
                            gen.insert(32 - gen.count())
                        end
                    end
                end
            end
        end
    else
        if gen.count() == 0 then
            Notifications(1)
        end
    end
end
function CleanInv()
    if cleanInv_ == true then
        for i = 1, r.inventorySize() do
            if r.count(i) ~= 0 then
                if ic.getStackInInternalSlot(i).name == "minecraft:cobblestone" or
                ic.getStackInInternalSlot(i).name == "minecraft:gravel" or
                ic.getStackInInternalSlot(i).name == "minecraft:dirt" then
                    r.select(i)
                    r.dropDown()
                end
            end
        end
    end
end
function EquipTool()
    if equipTool_ == true then
        if r.durability() == nil then
            for i = 1, r.inventorySize() do
                if r.count(i) ~= 0 then
                    if ic.getStackInInternalSlot(i).name == "minecraft:iron_pickaxe" or
                    ic.getStackInInternalSlot(i).name == "minecraft:diamond_pickaxe" then
                        r.select(i)
                        ic.equip()
                        break
                    end
                else
                    if i == r.inventorySize() then
                        print("нет кирок")
                        return 1
                    end
                end
            end
        end
    end
    return 0
end
function CheckEnergyLevel()
    if checkEnergyLevel_ == true then
        if math.floor(computer.energy() * 100 / computer.maxEnergy()) <= 10 then
            Notifications(4)
            return 1
        end
    end
    return 0
end
function CheckRobotStatus(code)
    print("CheckRobotStatus(code)")
    if code == 2 then
        tick = tick + 1
        if tick == 101 then tick = 1 end
        if tick % insertFuelSleep == 0 then if GenInsertFuel() == 1 then Home() end end
        if tick % cleanInvSleep == 0 then CleanInv() end
        if tick % checkLvlSleep == 0 then CheckLevel() end
        if EquipTool() == 1 then Home() print("нет кирок, Home()") end
        if CheckEnergyLevel() == 1 then Home() end
    else
        if GenInsertFuel() == 1 then Home() end
        CleanInv()
        CheckLevel()
        if EquipTool() == 1 then Home() end
        if CheckEnergyLevel() == 1 then Home() end
    end
end
function EnterValues(code)
    if code == 1 then
        print("Введите текущее значение высоты робота:")
        fPosition.y = tonumber(io.read())
        print(fPosition.y)
    end
    if code == 2 then
        print("Введите [y] если хотите продолжить:")
        if io.read() ~= y then
            return 1
        end
    end
    return 0
end
--устанавливает цели (координаты) для робота
function TargetCreator()
    if excavationPhase == 1 then
        targetPosition.y = 3
        if currentPosition.y == targetPosition.y then excavationPhase = 2 end
    end
    if excavationPhase == 2 then
        if currentPosition.x == targetPosition.x and currentPosition.z == targetPosition.z and currentPosition.rotation == targetPosition.rotation then
            spiralPhase = spiralPhase + 1
            if currentPosition.rotation == 1 then targetPosition.z = targetPosition.z - math.floor((spiralPhase + 1) / 2) end
            if currentPosition.rotation == 2 then targetPosition.x = targetPosition.x + math.floor((spiralPhase + 1) / 2) end
            if currentPosition.rotation == 3 then targetPosition.z = targetPosition.z + math.floor((spiralPhase + 1) / 2) end
            if currentPosition.rotation == 4 then targetPosition.x = targetPosition.x - math.floor((spiralPhase + 1) / 2) end
            targetPosition.rotation = currentPosition.rotation + 1
            if targetPosition.rotation == 5 then targetPosition.rotation = 1 end
        end
    end
    if excavationPhase == 3 then
        print("excavationPhase == 3")
        if currentPosition.x == 0 and currentPosition.z == 0 then
            targetPosition.y = fPosition.y
            if currentPosition.y == fPosition.y then
                print(currentPosition.y)
                print(fPosition.y)
                print("высота набрана")
                if EnterValues(2) == 1 then
                    return 1
                end
                CheckRobotStatus(1)
                Beep(2)
                excavationPhase = 4
            end
        else
            if not(targetPosition.z == 0 and targetPosition.x == 0) then
                targetPosition.z = 0
                targetPosition.x = 0
            end
        end
    end
    if excavationPhase == 4 then
        print("excavationPhase == 4")
        if not(targetPosition.x == lastPosition.x and targetPosition.z == lastPosition.z
            and targetPosition.y == lastPosition.y and targetPosition.rotation == lastPosition.rotation) then
            targetPosition.x = lastPosition.x
            targetPosition.z = lastPosition.z
            targetPosition.y = lastPosition.y
            targetPosition.rotation = lastPosition.rotation
        else
            excavationPhase = 2
            targetPosition.x = lastPosition.tx
            targetPosition.z = lastPosition.tz
            targetPosition.y = lastPosition.ty
            targetPosition.rotation = lastPosition.trotation
        end
    end
    return 0
end
function Beep(code)
    if code == 1 then
        computer.beep(800,0.1)
        computer.beep(1000,0.1)
        computer.beep(1200,0.2)
    end
    if code == 2 then
        computer.beep(1000,0.2)
        computer.beep(1000,0.2)
    end
end
function Home()
    print("начало функции Home()")
    excavationPhase = 3
    lastPosition.x = currentPosition.x
    lastPosition.z = currentPosition.z
    lastPosition.y = currentPosition.y
    lastPosition.rotation = currentPosition.rotation
    lastPosition.tx = targetPosition.x
    lastPosition.tz = targetPosition.z
    lastPosition.ty = targetPosition.y
    lastPosition.trotation = targetPosition.rotation
end
----------------------------------------------

Beep(1)
EnterValues(1)
CheckRobotStatus(1)
currentPosition.y = fPosition.y
currentPosition.rotation = fPosition.rotation
excavationPhase = 1
Beep(2)
--основной цикл программы
while true do
    CheckRobotStatus(2)
    if TargetCreator() == 1 then break end
    --print(targetPosition.x .. " " .. targetPosition.z .. "   " .. currentPosition.x .. " " .. currentPosition.z)
    if targetPosition.y ~= currentPosition.y then
        if targetPosition.y > currentPosition.y then
            Swing(2)
            Move(2)
        else
            Swing(3)
            Move(3)
        end
    else
        if targetPosition.z < currentPosition.z then c = 1 end
        if targetPosition.x > currentPosition.x then c = 2 end
        if targetPosition.z > currentPosition.z then c = 3 end
        if targetPosition.x < currentPosition.x then c = 4 end
        if c ~= currentPosition.rotation and (currentPosition.x ~= targetPosition.x  or currentPosition.z ~= targetPosition.z) then
            a = currentPosition.rotation
            b = 0
            while true do
                a = a + 1
                b = b + 1
                if a == 5 then a = 1 end
                if a == c then break end
            end
            if b > 2 then
                Turn(1)
            else
                Turn(2)
            end
        else
            if currentPosition.x ~= targetPosition.x  or currentPosition.z ~= targetPosition.z then
                Swing(1)
                if excavationPhase == 2 then
                    Swing(2)
                    Swing(3)
                end
                Move(1)
            else
                if targetPosition.rotation ~= currentPosition.rotation then
                    a = currentPosition.rotation
                    b = 0
                    while true do
                        a = a + 1
                        b = b + 1
                        if a == 5 then a = 1 end
                        if a == targetPosition.rotation then break end
                    end
                    if b > 2 then
                        Turn(1)
                    else
                        Turn(2)
                    end
                    print("fPosition.y " .. fPosition.y)
                end
            end
        end
    end
    print("------------------------------------------------")
end
--pastebin run UzNG12tA