farmbot.lua

local rp = require("robotplus")
local r = require("robot")
local modem = require("component").modem
local event = require("event")

dofile("/var/props.lua")

modem.open(in_port)

local last_id

while true do
  local _, _, host, _, _, id, name, x, z, farm_type = event.pull("modem_message")

  if last_id ~= id then
    last_id = id
    if name == "farmbot_check" then
      print("responding to check")
      modem.send(host, out_port, "ok", r.name())
    else
      local pos = rp.findWPByName(name, 40)
      if pos then
        print("moving to " .. name)
        rp.jump(pos.position, jump_height)

        local action = (farm_type == "break") and r.swingDown or r.useDown

        current = { x = 0, z = 0 }

        y = pos.position[2]

        if x < 0 then
          current.x = x + 1
          rp.moveX(current.x)
          x = math.abs(x)
        end

        if z < 0 then
          current.z = z + 1
          rp.moveZ(current.z)
          z = math.abs(z)
        end

        rp.turnEast()

        for i = 1, z do
          action()

          for j = 2, x do
            r.forward()
            if i % 2 == 0 then
              current.x = current.x - 1
            else
              current.x = current.x + 1
            end
            action()
          end

          if i == z then
            break
          end

          if i % 2 == 0 then
            r.turnLeft()
            r.forward()
            r.turnLeft()
          else
            r.turnRight()
            r.forward()
            r.turnRight()
          end

          current.z = current.z + 1
          event.pull() --yield
        end

        rp.moveX(-current.x)
        rp.moveZ(-current.z)

        local drop = rp.findWPByName(dropoff, 40)
        rp.jump(drop.position, jump_height - y)

        for i = 1, 16 do
          r.select(i)
          r.dropDown()
        end
      end
    end
  end
end