View difference between Paste ID: WukTpheC and PhLMDtaN

 local component = require("component")
 local robot = require("robot")
 local computer = require("computer")
 local nav = component.navigation
 
 local wp = {}
 
 -- color codes for the light
 local lightError = 0xFF0000		-- error = red
 local lightIdle = 0x0000FF		-- idle = blue
 local lightCharge = 0xFFFFFF		-- charging = white
 local lightMove = 0x00FF00		-- moving = green
 local lightWork = 0xFFFF00		-- working = yellow (dig, drop, suck, etc.)
 local lightBusy = 0xFF00FF		-- busy = magenta
 
 -- the range that is used for finding findWaypoints
 local scanRange = 256
 
 -- by default robot will not auto charge
 local autoCharge = false
 -- percentage robot will go to charger
 local autoChargeValue = 0.10
 -- stores name of the waypoint with charger for auto charging
 local autoCharger = "autocharger"
 
 -- Function writes an error message to stderr and changes the robot light to red
 local function errorReport(msg)
   robot.setLightColor(lightError)
   io.stderr:write("[ERROR] " .. msg .. "\n")
 end
 
 --robot.setLightColor(lightBusy)
 
 -- get the direction robot is looking
 --2 north
 --3 south
 --4 west
 --5 east
 local facingTable = {}
 facingTable[1] = "facings"
 facingTable[2] = "north"
 facingTable[3] = "south"
 facingTable[4] = "west"
 facingTable[5] = "east"
 
 -- stores the height the robot is moving
 local yPosition = 0
 
 -- facing the robot into the given position
 local function face(direction)
   robot.setLightColor(lightMove)
   while facingTable[nav.getFacing()] ~= direction do
     robot.turnRight()
   end
   robot.setLightColor(lightIdle)
 end
 
 -- enables/disables auto charging
 function wp.enableAutoCharge(value)
   autoCharge = value
 end
 
 -- returns name of the waypoint with charger
 function wp.getAutoCharger()
   return autoCharger
 end
 
 -- set the name of the waypoint used for charging
 function wp.setAutoCharger(value)
   autoCharger = value
 end
 
 -- Returns the range of findWaypoints
 function wp.getScanRange()
   return scanRange
 end
 
 -- sets the range of findWaypoints
 function wp.setScanRange(value)
   scanRange = value
 end
 
 -- moves robot to the given waypoint
 local function gotoWaypoint(name, f)
     robot.setLightColor(lightBusy)
     local w = nav.findWaypoints(scanRange)
     if w == nil then
       errorReport("Way point " .. name .. " not found")
       return false
     end
     for k,v in pairs(w) do
       if k ~= "n" then
 	if v.label == name then
 	  x = math.floor(v.position[1])
 	  y = math.floor(v.position[2])
 	  z = math.floor(v.position[3])
 	end
       end
     end
   print("[INFO] moving to " ..name .. " at " .. x .. "," .. y .. "," .. z)
   local steps = 0
 
   -- first the x axis (east - west)
   -- ---------------------------------
   -- calc the steps to moves
   steps = math.abs(x)
 
   if x > 0 then
     robot.setLightColor(lightMove)
     -- getting up first
-    for i=1, 4 do			-- getting 4 block high
+    for i=1, 1 do			-- getting 1 block high
       robot.up()
       yPosition = yPosition + 1
     end
     -- moving to east
     face("east")
     robot.setLightColor(lightMove)
     for i=1, steps do
       robot.forward()
     end
     robot.setLightColor(lightIdle)
   elseif x < 0 then
     robot.setLightColor(lightMove)
     -- getting up first
-    for i=1, 5 do			-- getting 5 blocks high
+    for i=1, 1 do			-- getting 1 blocks high
       robot.up()
       yPosition = yPosition + 1
     end
     -- moving to west
     face("west")
     robot.setLightColor(lightMove)
     for i=1, steps do
       robot.forward()
     end
     robot.setLightColor(lightIdle)
   end
 
   -- second the z axis (north - south)
   -- ---------------------------------
   -- calc the steps to moves
   steps = math.abs(z)
 
   -- set the facing
   if z > 0 then
     robot.setLightColor(lightMove)
     -- getting up first
-    for i=1, 2 do			-- getting 2 blocks extra high
+    for i=1, 1 do			-- getting 1 blocks extra high
       robot.up()
       yPosition = yPosition + 1
     end
     -- moving to south
     face("south")
     robot.setLightColor(lightMove)
     for i=1, steps do
       robot.forward()
     end
     robot.setLightColor(lightIdle)
   elseif z < 0 then
     robot.setLightColor(lightMove)
     -- getting up first
-    for i=1, 2 do			-- getting 2 blocks extra high
+    for i=1, 1 do			-- getting 1 blocks extra high
       robot.up()
       yPosition = yPosition + 1
     end
     -- moving to north
     face("north")
     robot.setLightColor(lightMove)
     for i=1, steps do
       robot.forward()
     end
     robot.setLightColor(lightIdle)
   end
 
   -- at last the height
   -- ---------------------------------
 
   if yPosition > y then
     robot.setLightColor(lightMove)
     steps = yPosition - math.floor(y)
     for i=1, steps do
       robot.down()
     end
     robot.setLightColor(lightIdle)
   elseif yPosition < y then
     robot.setLightColor(lightMove)
     steps = math.floor(y) -yPosition
     for i=1, steps do
       robot.up()
     end
     robot.setLightColor(lightIdle)
   end
   yPosition = 0
 
   -- if facing is set, we have to set it
   if f then
     face(f)
   end
 end
 
 -- the real function to move to a given waypoint. sends robot to charger, if autocharging is enabled
 function wp.goTo(name,f)
   if autoCharge == true then
     if computer.energy() < (computer.maxEnergy()*autoChargeValue) then
       gotoWaypoint(autoCharger)
       robot.setLightColor(lightCharge)
       while computer.energy() < (computer.maxEnergy()*0.95) do		-- autocharge until 95% full
 	os.sleep(0.2)
       end
       robot.setLightColor(lightIdle)
     end
   end
   gotoWaypoint(name,f)
 end
 
 return wp