Basic Movement

    -- pastebin get wsLBFGgx BasicMovement

    CVF = require("CVF")
    POS = require("POS")

    BM = {}
    local initData = nil

    function BM.forward()
        if POS.direction then
            if turtle.forward() then
                POS.position = CVF.add(POS.position, POS.direction)
                return true
            else
                while not POS.get_GPS_Position() do sleep(1) end
            end
        else
            local oldPos = {x= POS.position.x, y=POS.position.y, z=POS.position.z}
            if turtle.forward() then
                while not POS.get_GPS_Position() do sleep(1) end
                POS.direction = {x=POS.position.x-oldPos.x, z=POS.position.z-oldPos.z}
                return true
            else
                while not POS.get_GPS_Position() do sleep(1) end
            end
        end
        return false
    end
    function BM.up()
        if turtle.up() then
            POS.position.y = POS.position.y + 1
            return true
        else
            while not POS.get_GPS_Position() do sleep(1) end
        end
        return false
    end
    function BM.down()
        if turtle.down() then
            POS.position.y = POS.position.y - 1
            return true
        else
            while not POS.get_GPS_Position() do sleep(1) end
        end
        return false
    end
    function BM.back()
        if turtle.back() then
            POS.position = CVF.sub(POS.position, POS.direction)
            return true
        else
            while not POS.get_GPS_Position() do sleep(1) end
        end
        return false
    end

    function BM.turnLeft()
        if turtle.turnLeft() then
            if POS.direction then
                POS.direction = CVF.getLeftDir(POS.direction)
            end
            return true
        end
        return false
    end
    function BM.turnRight()
        if turtle.turnRight() then
            if POS.direction then
                POS.direction = CVF.getRightDir(POS.direction)
            end
            return true
        end
        return false
    end
    function BM.turnAround()
        return BM.turnRight() and BM.turnRight()
    end

    function BM.turnInDirection(endDir)
        if not endDir then return false end
        if not initData then
            initData = SDM.TURTLE.loadInitData()
        end
        local dirList = {
                ["LEFT"]        = initData.dirBottomBelt,
                ["RIGHT"]       = initData.dirTopBelt,
                ["FORWARD"]     = initData.dirSection,
                ["BACKWARD"]    = CVF.mult(-1, initData.dirSection)
            }
        if type(endDir) == "string" then
            endDir = dirList[endDir]
        end
        local startDir = POS.direction

        local strTurnDir = CVF.getTurnDirection(startDir, endDir)
        if not strTurnDir then return true end

        local turnList = {
            ["left"]        = BM.turnLeft,
            ["right"]       = BM.turnRight,
            ["around"]    = BM.turnAround
        }
        return turnList[strTurnDir]()
    end

    return BM