tbm2

local side = "left"
local funcState = {}
funcState.step = 0
funcState.func = runLeft
local rsDelay = 0.1






local colMap = {
  headSliderBreaker = { color = colors.orange, delay = 0.3 },
  headSliderDeployer = { color = colors.yellow, delay = 0.3 },
  headSliderLeft = { color = colors.lightBlue, delay = 1.1 },
  headSliderRight = { color = colors.magenta, delay = 1.1 },
  checkColLeft = { color = colors.white },
  checkColRight = { color = colors.gray },
  checkForward = { color = colors.brown },
  fwdBreaker = { color = colors.purple, delay = 0.3 },
  fwdDeployer = { color = colors.cyan, delay = 0.3 },
  battery = { color = colors.lime, delay = 1 },
  engineMotorPush = { color=colors.pink, delay = 1 },
  engineMotorPull = { color=colors.lightGray, delay= 1.3 },
  headMiningBreaker = { color = colors.blue, delay = 0.35 },
  kill = { color = colors.green }
}

function redclear()
  rs.setBundledOutput(side,0)
end

function redset(color)
  rs.setBundledOutput(side,color)
end

function forward()
  redpulse( colMap.fwdDeployer )
  local check = false
  for k=1,2,1 do
  --while not check do
    redpulse(colMap.engineMotorPush)
    redpulse(colMap.engineMotorPull)

    for i = 1, 5, 1 do
      if redtest(colMap.checkForward.color) then
        check = true
        delay(1)
      end
      if check then break end
      delay(0.5)
    end
    if check then break end
  end
  redpulse( colMap.fwdBreaker )
  redpulse(colMap.battery)
  return "#END"
end

function redadd(color)
  --print("add " .. color )
  local nCol = colors.combine( rs.getBundledOutput( side ), color )
  rs.setBundledOutput(side,nCol)
end

function reddel(color)
  --print("sub " .. color )
  local nCol = colors.subtract( rs.getBundledOutput( side ), color )
  rs.setBundledOutput(side,nCol)
end

function redtest(color)
  return colors.test( rs.getBundledInput( side ), color )
end

function delay(delayt)
  funcState.timer = os.startTimer( delayt )
  coroutine.yield()
end

function redpulse(opts)
  redadd(opts.color)
  delay( opts.delay )
  reddel(opts.color)
  delay(rsDelay)
end

function mineHeadLeft()
  redpulse(colMap.headSliderBreaker)
  redpulse(colMap.headSliderLeft)
end

function mineHeadRight()
  redpulse(colMap.headSliderDeployer)
  redpulse(colMap.headSliderRight)
end

redclear()

function runLeft()
  while not redtest(colors.white) do
    mineHeadLeft()
  end
  return "#END"
end
funcState.func = runLeft



function mine()
  local tCol = colMap.checkColRight.color
  local cFunc = mineHeadRight
  if not funcState.dir then tCol = colMap.checkColLeft.color cFunc = mineHeadLeft end
  local counter = 0
  redpulse(colMap.headMiningBreaker)
  delay(1)
  redpulse(colMap.headMiningBreaker)
  while not redtest(tCol) do
    --redpulse(colMap.headMiningBreaker)
    --delay(1)
    redpulse(colMap.headMiningBreaker)
    cFunc()


    counter = counter + 1
    if counter > 12 then redpulse(colMap.headMiningBreaker) delay(1) redpulse(colMap.headMiningBreaker)
    elseif counter > 20 then error("ERROR: Mine head too far/broken") end
  end
  redpulse(colMap.headMiningBreaker)
  return "#END"
end

function funcDo()
  while true do
    if redtest(colMap.kill.color) then return end
    local res = funcState.func()
    if res == "#END" then
      redclear()
      if funcState.func == runLeft then
        funcState.dir = true
        funcState.func = mine
      elseif funcState.func == mine then
        print("mine end")
        funcState.func = forward
      elseif funcState.func == forward then
        funcState.func = mine
        funcState.dir = not funcState.dir
      end
    end

    delay(rsDelay)
  end
end
local funcCo = coroutine.create(funcDo)
function timerCallback(ev,p1)
  if redtest( colMap.kill.color) then return end
  if p1 == funcState.timer then
    funcState.timer = nil
    coroutine.resume(funcCo)
  end
end

events.registerEvent("timer",timerCallback)
coroutine.resume(funcCo)
while true do
  if redtest(colMap.kill.color) then return end
  coroutine.yield()

end