View difference between Paste ID: XfUQWKr1 and cv8WtaBM

 --[[ Header
 ColorWars algorithm for LUA
 Authors: Akuukis, Hugo, LatvianModder, TomsG
 Started: May 1, 2014
-local i=0
+First Beta release: -
-local j=0
+First Alpha release: -
 Github address: https://github.com/Akuukis/TurtleColorWars
-function hugoDebug()
+--]]
-  modem.transmit(3, 1337, x.." "..y)
+--[[Structure
 Main - Starts Init. and afterwards runs Job,Supp,Comm in paralel. Subclasses Nav,Debug,Stats are present.
-function hugoSurfaceMove()
+Init.## Initiation - Initiates the turtle so it could operate
-  hugoDebug()
+Job.### Decision Making - Turtle weights alternatives, chooses his next AIM (strategy level) and does it (tactical level)
-  if turtle.forward() then
+Supp.## Maintance - Turtle's AIM can be interrupted by inside events, like low on fuel, full backpack or afraid of night. Overrides AIM & does it.
-    while turtle.detectDown()~=true do
+Comm.## Communication - Turtle's AIM can be interrupted by outside events, like call for help or direct command. Sets AIM & does Job##.
-      if turtle.down() then z=z-1 end
+Nav.### Navigation - Turtle goes to point XYZ (sub-tactical level) and constantly updates internal map.
 Debug.# Debug - (sub-tactical level)
-    if dir%4==0 then x=x+1 end
+Stats.# Statistics - Turtle collents & stores individual statistics for fun purposes only.
-    if dir%4==1 then y=y+1 end
+--]]
-    if dir%4==2 then x=x-1 end
+
-    if dir%4==3 then y=y-1 end
+Supp = {
-    else
+  Refuel = function(self)
-    while turtle.detect() do
+    if turtle.refuel()then
-      if turtle.up() then z=z+1 end
+      write("Refueled!\n")
       else
       write("Fuel me!\n")
       end
-
+
-
+  }
-turtle.refuel()
+Nav = {
-for i=0,math.random(3,5) do
+  SurfaceMove = function(self)
-  for j=0,math.random(0,3) do
+    Debug:Hugo(x,y)
-    turtle.turnRight()
+    if turtle.forward() then
-    dir=dir+1
+      while turtle.detectDown()~=true do
         if turtle.down() then z=z-1 end
-  for j=0,math.random(5,10) do
+        end
-    hugoSurfaceMove()
+      Stats:Step()
       if dir%4==0 then x=x+1 end
       if dir%4==1 then y=y+1 end
-
+      if dir%4==2 then x=x-1 end
-
+      if dir%4==3 then y=y-1 end
-turtle.up()
+      else
-turtle.down()
+      while turtle.detect() do
-if y<0 then
+        if turtle.up() then z=z+1 end
-  while dir%4~=1 do
+        end
-    turtle.turnRight()
+
-    dir=dir+1
+    end,
   GetLost1 = function(self)
-  while y<0 do hugoSurfaceMove() end
+    for i=0,math.random(3,5) do
       write("GetLost No." .. i .. ": ")
-if y>0 then
+      for j=0,math.random(0,3) do
-  while dir%4~=3 do
+        turtle.turnRight()
-    turtle.turnRight()
+        dir=dir+1
-    dir=dir+1
+        end
       write("Turned to " .. dir%4 .. ", ")
-  while y>0 do hugoSurfaceMove() end
+      for j=0,math.random(5,10) do
         Nav:SurfaceMove()
-if x<0 then
+        end
-  while dir%4~=0 do
+      write("Went " .. Stats:GetCountedSteps() .. "sq\n")
-    turtle.turnRight()
+      Stats:ResetCountedSteps()
-    dir=dir+1
+
     end,
-  while x<0 do hugoSurfaceMove() end
+  GoToStupid = function(self)
     write("I am at (" .. x .. "," .. y .. "). Going home!\n")
-if x>0 then
+    turtle.up()
-  while dir%4~=2 do
+    turtle.down()
-    turtle.turnRight()
+    if y<0 then
-    dir=dir+1
+      while dir%4~=1 do
         turtle.turnRight()
-  while x>0 do hugoSurfaceMove() end
+        dir=dir+1
-  end
+        end
       while y<0 do Nav:SurfaceMove() end
       end
     if y>0 then
       while dir%4~=3 do
         turtle.turnRight()
         dir=dir+1
         end
       while y>0 do Nav:SurfaceMove() end
       end
     if x<0 then
       while dir%4~=0 do
         turtle.turnRight()
         dir=dir+1
         end
       while x<0 do Nav:SurfaceMove() end
       end
     if x>0 then
       while dir%4~=2 do
         turtle.turnRight()
         dir=dir+1
         end
       while x>0 do Nav:SurfaceMove() end
       end
     write("I am home!\n")
     end,
   CalcMoves = function(mapmat, px, py, tx, ty)	-- Based on some code of LMelior but made it work and improved way beyond his code.
   --[[
   A* algorithm for LUA
   Ported to LUA by Altair
   21 septembre 2006
   --]]
   --[[ PRE:
   mapmat is a 2d array
   px is the player's current x
   py is the player's current y
   tx is the target x
   ty is the target y
 
   Note: all the x and y are the x and y to be used in the table.
   By this I mean, if the table is 3 by 2, the x can be 1,2,3 and the y can be 1 or 2.
   --]]
 
   --[[ POST:
   closedlist is a list with the checked nodes.
   It will return nil if all the available nodes have been checked but the target hasn't been found.
   --]]
 
     -- variables
     local openlist={}                 				-- Initialize table to store possible moves
     local closedlist={}						-- Initialize table to store checked gridsquares
     local listk=1                   				-- List counter
           local closedk=0                					-- Closedlist counter
     local tempH=math.abs(px-tx)+math.abs(py-ty)
     local tempG=0
     openlist[1]={x=px, y=py, g=0, h=tempH, f=0+tempH ,par=1}   	-- Make starting point in list
     local xsize=table.getn(mapmat[1]) 				-- horizontal map size
     local ysize=table.getn(mapmat)					-- vertical map size
     local curbase={}						-- Current square from which to check possible moves
     local basis=1							-- Index of current base
 
     -- Growing loop
     while listk>0 do
 
             -- Get the lowest f of the openlist
             local lowestF=openlist[listk].f
             basis=listk
       for k=listk,1,-1 do
             if openlist[k].f<lowestF then
                lowestF=openlist[k].f
                          basis=k
                 end
       end
 
       closedk=closedk+1
       table.insert(closedlist,closedk,openlist[basis])
 
       curbase=closedlist[closedk]				 -- define current base from which to grow list
 
       local rightOK=true
       local leftOK=true           				 -- Booleans defining if they're OK to add
       local downOK=true             				 -- (must be reset for each while loop)
       local upOK=true
 
       -- Look through closedlist
       if closedk>0 then
           for k=1,closedk do
         if closedlist[k].x==curbase.x+1 and closedlist[k].y==curbase.y then
           rightOK=false
         end
         if closedlist[k].x==curbase.x-1 and closedlist[k].y==curbase.y then
           leftOK=false
         end
         if closedlist[k].x==curbase.x and closedlist[k].y==curbase.y+1 then
           downOK=false
         end
         if closedlist[k].x==curbase.x and closedlist[k].y==curbase.y-1 then
           upOK=false
         end
           end
       end
 
       -- Check if next points are on the map and within moving distance
       if curbase.x+1>xsize then
         rightOK=false
       end
       if curbase.x-1<1 then
         leftOK=false
       end
       if curbase.y+1>ysize then
         downOK=false
       end
       if curbase.y-1<1 then
         upOK=false
       end
 
       -- If it IS on the map, check map for obstacles
       --(Lua returns an error if you try to access a table position that doesn't exist, so you can't combine it with above)
       if curbase.x+1<=xsize and mapmat[curbase.y][curbase.x+1]~=0 then
         rightOK=false
       end
       if curbase.x-1>=1 and mapmat[curbase.y][curbase.x-1]~=0 then
         leftOK=false
       end
       if curbase.y+1<=ysize and mapmat[curbase.y+1][curbase.x]~=0 then
         downOK=false
       end
       if curbase.y-1>=1 and mapmat[curbase.y-1][curbase.x]~=0 then
         upOK=false
       end
 
       -- check if the move from the current base is shorter then from the former parrent
       tempG=curbase.g+1
       for k=1,listk do
           if rightOK and openlist[k].x==curbase.x+1 and openlist[k].y==curbase.y and openlist[k].g>tempG then
         tempH=math.abs((curbase.x+1)-tx)+math.abs(curbase.y-ty)
         table.insert(openlist,k,{x=curbase.x+1, y=curbase.y, g=tempG, h=tempH, f=tempG+tempH, par=closedk})
         rightOK=false
           end
 
           if leftOK and openlist[k].x==curbase.x-1 and openlist[k].y==curbase.y and openlist[k].g>tempG then
         tempH=math.abs((curbase.x-1)-tx)+math.abs(curbase.y-ty)
         table.insert(openlist,k,{x=curbase.x-1, y=curbase.y, g=tempG, h=tempH, f=tempG+tempH, par=closedk})
         leftOK=false
           end
 
           if downOK and openlist[k].x==curbase.x and openlist[k].y==curbase.y+1 and openlist[k].g>tempG then
         tempH=math.abs((curbase.x)-tx)+math.abs(curbase.y+1-ty)
         table.insert(openlist,k,{x=curbase.x, y=curbase.y+1, g=tempG, h=tempH, f=tempG+tempH, par=closedk})
         downOK=false
           end
 
           if upOK and openlist[k].x==curbase.x and openlist[k].y==curbase.y-1 and openlist[k].g>tempG then
         tempH=math.abs((curbase.x)-tx)+math.abs(curbase.y-1-ty)
         table.insert(openlist,k,{x=curbase.x, y=curbase.y-1, g=tempG, h=tempH, f=tempG+tempH, par=closedk})
         upOK=false
           end
         end
 
       -- Add points to openlist
       -- Add point to the right of current base point
       if rightOK then
         listk=listk+1
         tempH=math.abs((curbase.x+1)-tx)+math.abs(curbase.y-ty)
         table.insert(openlist,listk,{x=curbase.x+1, y=curbase.y, g=tempG, h=tempH, f=tempG+tempH, par=closedk})
       end
 
       -- Add point to the left of current base point
       if leftOK then
         listk=listk+1
         tempH=math.abs((curbase.x-1)-tx)+math.abs(curbase.y-ty)
         table.insert(openlist,listk,{x=curbase.x-1, y=curbase.y, g=tempG, h=tempH, f=tempG+tempH, par=closedk})
       end
 
       -- Add point on the top of current base point
       if downOK then
         listk=listk+1
         tempH=math.abs(curbase.x-tx)+math.abs((curbase.y+1)-ty)
         table.insert(openlist,listk,{x=curbase.x, y=curbase.y+1, g=tempG, h=tempH, f=tempG+tempH, par=closedk})
       end
 
       -- Add point on the bottom of current base point
       if upOK then
         listk=listk+1
         tempH=math.abs(curbase.x-tx)+math.abs((curbase.y-1)-ty)
         table.insert(openlist,listk,{x=curbase.x, y=curbase.y-1, g=tempG, h=tempH, f=tempG+tempH, par=closedk})
       end
 
       table.remove(openlist,basis)
       listk=listk-1
 
                   if closedlist[closedk].x==tx and closedlist[closedk].y==ty then
                      return closedlist
                   end
     end
 
     return nil
   end,
   CalcPath = function(closedlist)
   --[[ PRE:
   closedlist is a list with the checked nodes.
   OR nil if all the available nodes have been checked but the target hasn't been found.
   --]]
 
   --[[ POST:
   path is a list with all the x and y coords of the nodes of the path to the target.
   OR nil if closedlist==nil
   --]]
 
       if closedlist==nil then
          return nil
       end
      local path={}
      local pathIndex={}
      local last=table.getn(closedlist)
      table.insert(pathIndex,1,last)
 
      local i=1
      while pathIndex[i]>1 do
       i=i+1
       table.insert(pathIndex,i,closedlist[pathIndex[i-1]].par)
      end
 
      for n=table.getn(pathIndex),1,-1 do
          table.insert(path,{x=closedlist[pathIndex[n]].x, y=closedlist[pathIndex[n]].y})
        end
 
      closedlist=nil
      return path
   end
   }
 Debug = {
   Hugo = function(self, x, y)
     modem.transmit(3, 1337, x.." "..y)
     end
   }
 Stats = {
   GlobalSteps = 0,
   CountedSteps = 0,
   Step = function(self, x)
     x = x or 1 -- create object if user does not provide one
     Stats.GlobalSteps = Stats.GlobalSteps + 1
     Stats.CountedSteps = Stats.CountedSteps + 1
     end,
   GetGlobalSteps = function(self)
     return Stats.GlobalSteps
     end,
   GetCountedSteps = function(self)
     return Stats.CountedSteps
     end,
   ResetCountedSteps = function(self)
     Stats.CountedSteps = 0
     end
   }
 
 dir=0
 x=0
 y=0
 z=0
 modem = peripheral.wrap("left")
 
 Supp:Refuel()
 Nav:GetLost1()
 Nav:GoToStupid()