gfarm

-- Farming drone originally by DrManganese ( https://github.com/DrManganese/OpenComputers-Projects/blob/master/Farming%20Drone/farm.lua )
-- Modified by nzHook http://youtube.com/nzhook, & Cthegoalie

--local docking = component.proxy(component.list("dock")())
local drone = component.proxy(component.list("drone")())
local nav = component.proxy(component.list("navigation")())
local succ = component.proxy(component.list("tractor_beam")())

local baseSleep = 5
local waypointLookRadius = 64
local colours = {["travelling"] = 0xFFFFFF, ["farming"] = 0x332400, ["waiting"] = 0x0092FF, ["dropping"] = 0x33B640}

local cx, cy, cz
local BASE
local DROPOFF
local FARMROWs

function getWaypoints()
  BASE, DROPOFF, FARMROWs = {}, {}, {}
  cx, cy, cz = 0, 0, 0
  local waypoints = nav.findWaypoints(waypointLookRadius)
  for i=1, waypoints.n do
    if waypoints[i].label == "BASE" then
      BASE.x = waypoints[i].position[1]
      BASE.y = waypoints[i].position[2]
      BASE.z = waypoints[i].position[3]
    elseif waypoints[i].label == "DROPOFF" then
      DROPOFF.x = waypoints[i].position[1]
      DROPOFF.y = waypoints[i].position[2]
      DROPOFF.z = waypoints[i].position[3]
    elseif waypoints[i].label:find("FARMROW") == 1 then
      local tempTable = {}
      tempTable.x = waypoints[i].position[1]
      tempTable.y = waypoints[i].position[2]
      tempTable.z = waypoints[i].position[3]
      tempTable.l = waypoints[i].label:match("LEN(%d+)")
      table.insert(FARMROWs, tempTable)
    end
  end
end

function colour(state)
  drone.setLightColor(colours[state] or 0x000000)
end

function move(tx, ty, tz)

  local dx = tx - cx
  local dy = ty - cy
  local dz = tz - cz
  drone.move(dx, dy, dz)
  while drone.getOffset() > 0.7 or drone.getVelocity() > 0.7 do
    computer.pullSignal(0.2)
  end
  cx, cy, cz = tx, ty, tz
end

function getCharge()
  return computer.energy()/computer.maxEnergy()
end

function waitAtBase()
    colour("travelling")
    move(BASE.x, BASE.y+1, BASE.z)
--    while docking.dock()~= true do computer.pullSignal(.1) end

    colour("waiting")
    while getCharge() < 0.8 do
      computer.pullSignal(1)
    end
    --poké-heal sound GGGEC
    computer.beep(783.99) computer.pullSignal(.25) computer.beep(783.99) computer.pullSignal(.25) computer.beep(783.99) computer.beep(659.25) computer.beep(1046.5)
--    docking.release()
end

function findCrop()
  for i=2, 5 do
    local isBlock, type = drone.detect(i)
    if type == "passable" then
      return i
    end
  end
end

function farm()
  for i=1, #FARMROWs do
    dropoff()
    local row = FARMROWs[i]
    colour("travelling")
    move(row.x, row.y, row.z)
    colour("farming")
    local direction = findCrop()
    local l, r, tx, tz
    if direction == 2 then l,r,tx,tz = 4,5,0,-1 end
    if direction == 3 then l,r,tx,tz = 5,4,0,1 end
    if direction == 4 then l,r,tx,tz = 3,2,-1,0 end
    if direction == 5 then l,r,tx,tz = 2,3,1,0 end

    drone.use(direction)
    for i=1, row.l do
      move(cx+tx, cy, cz+tz)
      colour("farming")
      drone.use(l)
      drone.use(r)
      drone.use(0)
      drone.use(4)
      drone.use(5)
      if i < tonumber(row.l) then
        for c=0,5 do
          drone.use(c)
        end
      end
      for t=0,20 do
      succ.suck()
      end
    end
  end
end

function dropoff()
  local havesome = false
  for i=1, drone.inventorySize() do
  if drone.count(i) > 0 then
    havesome = true
  end
  end
  if not havesome then
  return
  end

  colour("travelling")
  move(DROPOFF.x, DROPOFF.y+1, DROPOFF.z)
--  while docking.dock()~= true do computer.pullSignal(.1) end
  colour("dropping")
  for i=1, drone.inventorySize() do
--    docking.dropItem(i, 64)
    drone.select(i)
    -- 0 = sides.bottom
    drone.drop(0, 64)
    computer.pullSignal(1)
  end
--  docking.release()
end

function init()
  getWaypoints()
  waitAtBase()
  while true do
    farm()
    dropoff()
    if getCharge() < 0.8 then
       getWaypoints()
       waitAtBase()
    end
  end
end

init()