pump.lua

local rbt = require("robot")
local cmp = require("component")
local evt = require("event")
local os = require("os")
local math = require("math")
local computer = require("computer")
local coroutine = require("coroutine")

-- slot 1: tesseract
-- slot 2: charger
-- slot 3: redstone block

rechargeThreshold = 0.50
fullRatio = 0.95
path = {}
x, y, z = 0, 0, 0

-- move robot forward n spaces, track motion for RTLS
function forward(n)
  if n == nil then n=1 end
  for i = 1,n do
    if rbt.forward() then
      path[#path+1] = "forward"
    end
  end
end

-- move robot up n w/ rtls
function up(n)
  if n == nil then n=1 end
  for i = 1,n do
    if rbt.up() then
      path[#path+1] = "up"
    end
  end
end

-- move robot down n w/ rtls
function down(n)
  if n == nil then n=1 end
  for i = 1,n do
    if rbt.down() then
      path[#path+1] = "down"
    end
  end
end

-- turn robot n times, track motion for RTLS
function left(n)
  if n == nil then n=1 end
  for i = 1,n do
    if rbt.turnLeft() then
      path[#path+1] = "left"
    end
  end
end

-- turn robot n times, track motion for RTLS
function right(n)
  if n == nil then n=1 end
  for i = 1,n do
    if rbt.turnRight() then
      path[#path+1] = "right"
    end
  end
end

undo = {right = rbt.turnLeft, left = rbt.turnRight,
up = rbt.down, down = rbt.up,
forward = rbt.back}

-- Return To Launch Site, move robot back along
-- path traveled; return to starting location
function RTLS()
  while #path > 0 do
    while undo[path[#path]]()==false do
      rbt.turnAround()
      rbt.swing()
      rbt.turnAround()
    end
    path[#path] = nil
  end
end

-- reset RTLS, clear RTLS stack; set new starting
-- location
function rRTLS()
  path = {}
end

function forwardBreak()
  if rbt.detect() then
    rbt.swing()
  end
  rbt.forward()
end


-- ensure XxYxZ free space, with robot in the 0, 0, 0
-- corner, xd being in front and zd being to the right
function ensureEmpty(xd, yd, zd)
  xd = xd - 1
  for y = 1,yd do
    for r = 1,zd do
      for c = 1,xd do
        forwardBreak()
      end
      rbt.turnLeft()
      rbt.turnLeft()
      for c = 1,xd do
        rbt.forward()
      end
      rbt.turnLeft()
      forwardBreak()
      rbt.turnLeft()
    end

    rbt.turnLeft()
    for r = 1,zd do
      rbt.forward()
    end
    rbt.turnRight()

    if rbt.detectUp() then
      rbt.swingUp()
    end
    rbt.up()
  end
  for y = 1,yd do
    rbt.down()
  end
end

-- Get level in tanks
function tankLevel()
  return cmp.tank_controller.getTankLevelInSlot(4)+cmp.tank_controller.getTankLevelInSlot(8)
end

-- Get tank capacity
function tankCapacity()
  return cmp.tank_controller.getTankCapacityInSlot(4)+cmp.tank_controller.getTankCapacityInSlot(8)
end

-- RTLS, empty tanks, get power
function reset()
  RTLS()
  rRTLS()
  rbt.turnAround()
  while tankLevel() > 0 do
    rbt.select(4)
    if cmp.tank_controller.getTankLevelInSlot(4) == 0 then
      rbt.select(8)
    end
    cmp.tank_controller.drain()
    rbt.fill()
  end
  while computer.energy()/computer.maxEnergy() < fullRatio do
    os.sleep(3)
  end
  rbt.turnAround()
end

-- BEGIN NON FUNCTION CODE --
cmp.chunkloader.setActive(true)
rbt.selectTank(1)

-- Move to get lava
while true do
  print(tankLevel().." mB of lava in tank")
  -- check tank level and empty if necesary
  if tankLevel() > tankCapacity()*0.95 then
    -- empty tank into tesseract
    print("Dumping tank")
    reset()
  end
  -- power level check
  if computer.energy()/computer.maxEnergy() < rechargeThreshold then
    -- Wait for charging
    reset()
  end
  -- check for obstacle before moving
  if rbt.detect() or math.random() < 0.025 then
    -- deal with the obstacle - this happens as soon as we hit the other side of the lake
    --
    if math.random() < 0.5 then
      left()
    else
      right()
    end
    goto loopEnd
  end
  forward()
  rbt.drainDown()
  rbt.select(4)
  if cmp.tank_controller.getTankLevelInSlot(4) == cmp.tank_controller.getTankCapacityInSlot(4) then
    rbt.select(8)
  end
  cmp.tank_controller.fill()
  ::loopEnd::
end