ST Positioning

    -- pastebin get a22LsH3d Positioning

    SDM = require("SDM")
    CVF = require("CVF")
    POS = {}

    local initData = {}
    POS.position = nil
    POS.direction = nil


    local TURTLE = SDM.TURTLE

    local sectionDir = ""
    local beltDir = ""

    local varList = {
                "dirSection", "dirTopBelt", "dirBottomBelt", "initChestCoord", "yModulo",
                "chestRowMod", "chestColMod", "elevPos", "sectionMod", "leftSecMod",
                "rightSecMod", "lowBeltY", "upBeltY", "diskOutCoord", "diskFinishCoord",
                "entryModulo", "exitModulo", "pickaxeChestCoord", "chestOutCoord",
                "bLeftStart", "colBlockNum", "blockHeight", "beltPos", "chestRefuelCoord"
        }
    POS.sectionDir = ""
    POS.beltDir = ""

    function POS.init()
        initData = TURTLE.loadInitData()
        if not initData then
            print("Can't find Init Data")
            return false, 1
        end

        if not POS.get_GPS_Position() then
            print("Can't locate Turtle")
            return false, 2
        end

        if CVF.isXDir(initData.dirSection) then
            sectionDir = "x"
            beltDir = "z"
            POS.sectionDir = "x"
            POS.beltDir = "z"
        else
            sectionDir = "z"
            beltDir = "x"
            POS.sectionDir = "z"
            POS.beltDir = "x"
        end

        if not POS.get_Direction() then
            return false, 3
        end

        return true
    end

    function POS.get_GPS_Position()
        local x, y, z = gps.locate()
        if not x or not y or not z then
            print("GPS not available.")
            return false
        end
        POS.position = {x = math.floor(x), y = math.floor(y), z = math.floor(z)}
        if not POS.position.x or not POS.position.y or not POS.position.z then
            print("GPS not available.")
            return false
        end
        return true
    end

    function POS.get_Direction()
        local disk, dPath = SDM.getDisk("init")
        if disk then
            POS.direction = initData.dirSection
            return true
        end
        disk, dPath = SDM.getDisk("outgoing")
        if disk then
            for i=1, 4 do
                local success, data = turtle.inspect()
                if success and data.name == "minecraft:chest" then
                    POS.direction = initData.dirTopBelt
                    return true
                end
                turtle.turnRight()
            end
        end
        return false
    end

    function POS.isInBounds(pos)
        if not pos then pos = POS.position end
        local d1 = (pos[sectionDir] - initData.initChestCoord[sectionDir]) * initData.dirSection[sectionDir]

        return d1 >= -2
    end

    function POS.isInSystem(pos)
        if not pos then pos = POS.position end

        if POS.isOnBottomBelt(pos) then return true end
        if POS.isOnTopBelt(pos) then return true end
        if POS.isOnBottomSection(pos) then return true end
        if POS.isOnTopsection(pos) then return true end
        if POS.isOnLeftChestRow(pos) then return true end
        if POS.isOnRightChestRow(pos) then return true end
        if POS.isOnElevatorUp(pos) then return true end
        if POS.isOnElevatorDown(pos) then return true end
        if not POS.isInBounds(pos) then return true end
        return false
    end

    function POS.isOnBottomBelt(pos)
        if not pos then pos = POS.position end
        if not (pos.y == initData.lowBeltY) then return false end

        return initData.beltPos == pos[sectionDir]
    end
    function POS.isOnTopBelt(pos)
        if not pos then pos = POS.position end
        if not (pos.y == initData.upBeltY) then return false end

        return initData.beltPos == pos[sectionDir]
    end

    function POS.isOnBottomSection(pos)
        if not pos then pos = POS.position end
        local d1 = (pos[sectionDir] - initData.initChestCoord[sectionDir]) * initData.dirSection[sectionDir]
        local modYPos = pos.y % initData.blockHeight
        local modYSection = initData.lowBeltY % initData.blockHeight

        if d1 < -1 then return false end
        if not (pos[beltDir] % 8 == initData.sectionMod) then return false end

        return modYPos == modYSection
    end

    function POS.isOnTopsection(pos)
        if not pos then pos = POS.position end
        local d1 = (pos[sectionDir] - initData.initChestCoord[sectionDir]) * initData.dirSection[sectionDir]
        local modYPos = pos.y % initData.blockHeight
        local modYSection = (initData.lowBeltY - (initData.blockHeight - 5)) % initData.blockHeight

        if d1 < -1 then return false end
        if not (pos[beltDir] % 8 == initData.sectionMod) then return false end
        return modYPos == modYSection
    end

    function POS.isOnLeftChestRow(pos)
        if not pos then pos = POS.position end
        local d1 = (pos[sectionDir] - initData.initChestCoord[sectionDir]) * initData.dirSection[sectionDir]
        if d1 < 0 then return false end

        return pos[beltDir] % 8 == initData.leftSecMod % 8
    end
    function POS.isOnRightChestRow(pos)
        if not pos then pos = POS.position end
        local d1 = (pos[sectionDir] - initData.initChestCoord[sectionDir]) * initData.dirSection[sectionDir]
        if d1 < 0 then return false end

        return pos[beltDir] % 8 == initData.rightSecMod % 8
    end
    function POS.isOnHighestChestRow(pos)
        if not (POS.isOnLeftChestRow(pos) or POS.isOnRightChestRow(pos)) then return false end
        if not pos then pos = POS.position end

        local modYPos = pos.y % initData.blockHeight
        local modYSection = (initData.lowBeltY - (initData.blockHeight - 5)) % initData.blockHeight

        return modYPos == modYSection
    end

    function POS.isOnElevatorUp(pos)
        if not pos then pos = POS.position end
        local d1 = (pos[sectionDir] - initData.initChestCoord[sectionDir]) * initData.dirSection[sectionDir]
        if d1 ~= -1 then return false end

        return pos[beltDir] % 8 == initData.rightSecMod % 8
    end
    function POS.isOnElevatorDown(pos)
        if not pos then pos = POS.position end
        local d1 = (pos[sectionDir] - initData.initChestCoord[sectionDir]) * initData.dirSection[sectionDir]
        if d1 ~= -1 then return false end

        return pos[beltDir] % 8 == initData.leftSecMod % 8
    end

    function POS.isOnBeltExitUp(pos)
        if not pos then pos = POS.position end
        local d1 = (pos[sectionDir] - initData.initChestCoord[sectionDir]) * initData.dirSection[sectionDir]
        if d1 ~= -2 then return false end

        return pos[beltDir] % 8 == initData.rightSecMod % 8
    end
    function POS.isOnBeltExitDown(pos)
        if not pos then pos = POS.position end
        local d1 = (pos[sectionDir] - initData.initChestCoord[sectionDir]) * initData.dirSection[sectionDir]
        if d1 ~= -2 then return false end

        return pos[beltDir] % 8 == initData.leftSecMod % 8
    end

    function POS.getSection(pos)
        if not pos then pos = POS.position end
        local rAxisCoord = pos[beltDir]
        local fAxisCoord = pos[sectionDir]
        local d1 = (fAxisCoord - initData.initChestCoord[sectionDir]) * initData.dirSection[sectionDir]

        if d1 < -1 then return "out" end

        local testPos = {
            [sectionDir] = fAxisCoord,
            ["y"] = initData.lowBeltY,
            [beltDir] = rAxisCoord
        }
        if POS.isOnBottomSection(testPos) then return testPos[beltDir] end

        testPos[beltDir] = rAxisCoord + 1
        if POS.isOnBottomSection(testPos) then return testPos[beltDir] end
        testPos[beltDir] = rAxisCoord - 1
        if POS.isOnBottomSection(testPos) then return testPos[beltDir] end

        testPos[beltDir] = rAxisCoord + 2
        if POS.isOnBottomSection(testPos) then return testPos[beltDir] end
        testPos[beltDir] = rAxisCoord - 2
        if POS.isOnBottomSection(testPos) then return testPos[beltDir] end

        testPos[beltDir] = rAxisCoord + 3
        if POS.isOnBottomSection(testPos) then return testPos[beltDir] end
        testPos[beltDir] = rAxisCoord - 3
        if POS.isOnBottomSection(testPos) then return testPos[beltDir] end

        testPos[beltDir] = rAxisCoord + 4
        if POS.isOnBottomSection(testPos) then return "center" end
        return nil
    end

    function POS.getSectionHeight(pos)
        if not pos then pos = POS.position end
        local yModulo = initData.lowBeltY % initData.blockHeight

        for dy = 0, initData.blockHeight - 1 do
            if (pos.y - dy) % initData.blockHeight == yModulo then return (pos.y - dy) end
        end
        return nil
    end


return POS