MSlateral

--Operate 2 frame motors moving the mining station LEFT & RIGHT
local movChannel = 12
local movRespChannel = 13
local followChannel = 14
local followRespChannel = 15
local modem = peripheral.wrap("right")
modem.open(movChannel)

function unsetAll(sigSide)
  rs.setBundledOutput(sigSide,0)
end

function move(side,dist)
  local signalSide
  local followerCmd
  if (side == "left") then
    signalSide = "front"
    followerCmd = "follow_Left"
  else
    if (side == "right") then
      signalSide = "back"
      followerCmd = "follow_Right"
    else
      return false
    end
  end

  for i=1,dist do
    modem.transmit(followChannel ,followRespChannel ,followerCmd)

    rs.setBundledOutput(signalSide,colors.red)
    sleep(0.5)
    unsetAll(signalSide)
    sleep(1)

    rs.setBundledOutput(signalSide,colors.black)
    sleep(0.5)
    unsetAll(signalSide)
    sleep(1)
  end
end

while true do
  local event, modemSide, senderChannel, replyChannel, message, senderDistance = os.pullEvent("modem_message")
  local op=textutils.unserialize(message)
  --print(op.name)
  --print("__"..op.direction)
  --print("__"..op.iter)
  if (op.name == "lateral") then
    move(op.direction, tonumber(op.iter))
    modem.transmit(movRespChannel,movChannel,"lateral OK")
  end
  sleep(3)
end