wood_no_gps

--Var
local robot = require("robot")
local inv = require("component").inventory_controller
local comp = require("computer")
local s = require("sides")
local tr = require("component").tractor_beam

Xn = 0
Yn = 0
Zn = 0
nSide = 0
Xc,Xt,Yc,Yt,Zc,Zt = 0,0,0,0,0,0

--Function

function Left()
robot.turnLeft()
nSide = nSide+1
end

function Right()
robot.turnRight()
nSide = nSide-1
end

function Around()
robot.turnAround()
nSide = nSide-2
end

function forward()
local n = 0
while true do
if robot.forward() then
while tr.suck() do end
nSide = nSide%4
if nSide == 0 then Xt = Xt+1
elseif nSide == 1 then Zt = Zt+1
elseif nSide == 2 then Xt = Xt-1
elseif nSide == 3 then Zt = Zt-1
end
return true
else
robot.swing()
n = n+1
end
if n == 20 then print("no run forward, program stop!") os.exit() end
end
end

function up()
local n = 0
while true do
if robot.up() then Yt = Yt+1 return true else
robot.swingUp()
n = n+1
end
if n == 20 then print("no run up, program stop!") os.exit() end
end
end

function down()
local n = 0
while true do
if robot.down() then Yt = Yt-1 return true else
robot.swingDown()
n = n+1
end
if n == 20 then print("no run down, program stop!") os.exit() end
end
end


function sapling()
robot.select(2)
up()
forward()
robot.placeDown()
forward()
robot.placeDown()
Left()
forward()
robot.placeDown()
Left()
forward()
robot.placeDown()
forward()
Left()
forward()
Left()
down()
end

function wood()
local n=0
robot.swing()
forward()
while true do
  if robot.detectUp() then
  n=n+1
  robot.swing()
  robot.swingUp()
  up()
  else break end
end
robot.swing()
Left()
robot.swing()
forward()
Right()
for i=1,n do
robot.swing()
robot.swingDown()
down()
end
robot.swing()
Right()
forward()
Right()
forward()
Around()
end

function new_tools()
   if robot.durability() == nil then return false end
   if robot.durability()<150 then
   robot.select(1)
   inv.equip()
       if robot.durability()<150 then
       return false
       else
       return true
    end
    else
    return true
    end
end

function detect_wood()
 if robot.detect() then
  up()
   if robot.detect() then
    down()
    return "wood"
   else
    down()
    return "sapling"
   end
 else
  return "clear"
 end
end

function run_a()
Left()
for i=1,10 do
forward()
end
Right()
end

function run_b()
Right()
forward()
Right()
for i=1,10 do
forward()
end
Right()
forward()
Right()
end

function run_c()
Right()
for i=1,10 do
forward()
end
Left()
end

function run_d()
Left()
forward()
forward()
Right()
for i=1,10 do
forward()
end
Right()
forward()
forward()
Left()
end

function bksp(area)
if area == "chest" then
  Left()
  forward()
  forward()
  Right()
 Xc=Xt Yc=Yt Zc=Zt
      while Zn~=Zt do
      forward()
      end
    Right()
      while Xn~=Xt do
      forward()
      end
elseif area == "wood" then
    Around()
      while Xc~=Xt do
      forward()
      end
   Left()
      while Zc~=Zt do
      forward()
      end
   Left()
   forward()
   forward()
   Left()
end
end

function chest(tools)
    for i=3,16 do
  robot.select(i)
  if (robot.count(i) ~= 0) and (not robot.drop(64)) then Around() print("chest full, stop!") os.exit() end
  end
  Right()
  robot.select(2)
   for i=1,5 do
   if robot.count(2) ~= 64 then robot.suck(robot.space(2)) else break end
  end
  Left()
  if not count_sapl() then return "sapling" end
if not tools then
  robot.select(1)
  robot.drop()
  inv.equip()
  robot.drop()
  if not robot.suckDown(1) then return "tools" end
  inv.equip()
  if not robot.suckDown(1) then return "tools" end
  end
  return true
end

function count_sapl()
if robot.count(2) < 5 then return false else return true end
end

function full()
if robot.count(13) == 0  then return true else return false end
end

function energy()
if comp.energy() < 1800 then os.sleep(180) end
end

-- MultiFunction
function woodAll()
  while true do
       if count_sapl() and full() and new_tools() then
           detect = detect_wood()
           if detect == "clear" then sapling() break
           elseif detect == "wood" then wood() sapling() break
           elseif detect == "sapling" then break end
   else
    bksp("chest")
 _exit = chest(new_tools())
   if "tools" == _exit then Around() print("not tools, stop!") os.exit()
    elseif "sapling" ==_exit then Around() print("not sapling, stop!") os.exit()
   end
 bksp("wood")
  end
 end
end

--Programs:

Right()
while true do
  for i=1,3 do
   energy()
   woodAll()
   if i == 2 then os.sleep(10) else os.sleep(0) end
   energy()
   run_a()
   end
energy()
woodAll()
os.sleep(0)
energy()
run_b()
for i=1,3 do
   energy()
   woodAll()
   os.sleep(0)
   energy()
   run_c()
  end
energy()
woodAll()
os.sleep(0)
energy()
run_d()
end