View difference between Paste ID: tqV1nvk2 and hhHVdE5p

 -- api used for 2d pathfinding
 
 
 -- defining variables of coordinates and direction
 -- Initialize parameters for the location and direction
 x_live_coord = 1
 y_live_coord = 1
 live_facing_direction = 0
 
 
 -- Basic moveset functions turning and forward
 
 function rec_turn_right()
     -- action
     turtle.turnRight()
 
     -- recording
     live_facing_direction = live_facing_direction + 1
     if (live_facing_direction == 4) then
         live_facing_direction = 0
     end
 end
 
 function rec_turn_left()
     -- action
     turtle.turnLeft()
 
     -- recording
     live_facing_direction = live_facing_direction - 1
     if (live_facing_direction == -1) then
         live_facing_direction = 3
     end
 
 end
 
 function rec_forward_firm()
     -- action
     repeat
         turtle.dig()
     until turtle.forward()
 
     --recording
     if (live_facing_direction == 0) then
         y_live_coord = y_live_coord + 1
     elseif (live_facing_direction == 1) then
         x_live_coord = x_live_coord + 1
     elseif (live_facing_direction == 2) then
         y_live_coord = y_live_coord - 1
     elseif (live_facing_direction == 3) then
         x_live_coord = x_live_coord - 1
     end
     print(x_live_coord, y_live_coord)
     refuel_with("minecraft:coal")
 
 end
 
 
 function up_firm()
     repeat
         turtle.digUp()
     until turtle.up()
 end
 
 function down_firm()
     repeat
         turtle.digDown()
     until turtle.down()
 end
 
 function turtle_face_turn(face)
     if (face - live_facing_direction == 1 or face - live_facing_direction == -3) then
         rec_turn_right()
     elseif(face - live_facing_direction == -1 or face - live_facing_direction == 3) then
         rec_turn_left()
-    else
+	elseif(face == live_facing_direction) then
 		print("not turning")
 	else
         rec_turn_left()
         rec_turn_left()
     end
 end
 
 
 -- the GOTO function, give one coordinate and move to the function
 -- first align the facing direction to 0
 -- get to the coordinate and return facing direction to 0
 function turtle_goto(a,b)
     -- calculation
     delta_x = a - x_live_coord
     delta_y = b - y_live_coord
 
     -- action section below
     -- facing the correct direction for x movement
     if (delta_x > 0) then
         turtle_face_turn(1)
     elseif (delta_x < 0) then
         turtle_face_turn(3)
         delta_x = - delta_x
     end
 
 
     -- x movement
     for x_movement = 0,delta_x - 1,1
     do
         rec_forward_firm()
     end
 
 
     -- facing the correct direction for y movement
     if (delta_y > 0) then
         turtle_face_turn(0)
     elseif (delta_y < 0) then
         turtle_face_turn(2)
         delta_y = - delta_y
     end
     -- y movement
     for y_movement = 0,delta_y - 1,1
     do
         rec_forward_firm()
     end
 
 
     -- returning to the 0 facing direction
 
 end
 
 -- the pathfinding function, will try to visit all points in an array
 
 -- some utilities
 
 function pathfind_and_action()
     for loop_num=1, array_length, 1
     do
         print("NEXT!!")
         near_init_term_num = 1
         while visited[near_init_term_num] == 1 do
             near_init_term_num = near_init_term_num + 1
         end
 
         nearest_x = x_destinations[near_init_term_num]
         nearest_y = y_destinations[near_init_term_num]
         min_distance = math.abs(nearest_x - x_live_coord) +  math.abs(nearest_y - y_live_coord)
 
         last_item_num = near_init_term_num
         for item_num = 1, array_length, 1
         do
             if visited[item_num] == 0 then
                 if (math.abs(x_destinations[item_num] - x_live_coord) +  math.abs(y_destinations[item_num] - y_live_coord)) < min_distance then
                     nearest_x = x_destinations[item_num]
                     nearest_y = y_destinations[item_num]
                     min_distance = math.abs(nearest_x - x_live_coord) +  math.abs(nearest_y - y_live_coord)
                     last_item_num = item_num
                 end
             end
         end
         visited[last_item_num] = 1
         print("going to ", nearest_x, nearest_y)
         turtle_goto(nearest_x,nearest_y)
 
         turtle_action()
     end
 
 end
 
 
 
 -- action loop section
 
 function place_item(item_name)
     item_tot = 0
     for cell_num = 1,16 do
         turtle.select(cell_num)
         if turtle.getItemDetail() then
             item_detail = turtle.getItemDetail()
             if (item_detail.name == item_name) then
                 turtle.placeDown()
                 item_tot = item_tot + item_detail.count
             end
         end
     end
     print("item_left: %d", item_tot)
 end
 
 function refuel_with(item_name)
     for cell_num = 1,16 do
         turtle.select(cell_num)
         if turtle.getItemDetail() then
             item_detail = turtle.getItemDetail()
             if (item_detail.name == item_name) then
                 turtle.refuel(1)
             end
         end
     end
 end
 
 
 
 -- example code of coordinates given
-x_destinations = {}
+
-y_destinations = {}
+
-visited = {}
+
-array_length = 0
+
     print('nothing')
     success, data = turtle.inspectDown()
     if success then
         if (data.state.age == 7) then
             turtle.digDown()
             place_item("minecraft:potato")
         end
     end
 end
 
 
 function plane_execution(x_destinations_input, y_destinations_input, turtle_action_input)
     x_destinations = x_destinations_input
     y_destinations = y_destinations_input
     turtle_action = turtle_action_input
     for x_i in x_destinations_input do
         visited[#visited + 1] = 0
     end
     array_length = #visited
     turtle_action = turtle_action_input
     pathfind_and_action()
 end
 
 function squarefill(a,b,s)
     array_length = a*b
     current_length=1
     for xfill=1,a,s
     do
         for yfill=1,b,s
         do
             x_destinations[current_length]=xfill
             y_destinations[current_length]=yfill
             visited[current_length]=0
             current_length=current_length + 1
         end
     end
 end
 
 
 
 while true do
---squarefill(3,5,1)
+	x_destinations = {}
---pathfind_and_action()
+	y_destinations = {}
-turtle_goto(1,6)
+	visited = {}
-turtle_face_turn(0)
+	array_length = 0
 	squarefill(5,9,1)
 	pathfind_and_action()
 	turtle_goto(1,1)
 	turtle_face_turn(0)
 	sleep(500)
 end