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Revision 823dc03af343a977a54e10d469579edd2bc5ddde

lib.lua Raw
1DRILL_RELAY_PERIPHERAL = "redstone_relay_5"
2CONTROLS_RELAY_PERIPHERAL = "redstone_relay_6"
3ENDSTOP_RELAY_PERIPHERAL = "redstone_relay_8"
4DRILL_RPM = 32
5MOVE_RPM = 120
6-- The dimensions of the quarry site { x/width, z/length }
7LENGTH = { 6, 6 }
8
9local phDrill = peripheral.wrap(DRILL_RELAY_PERIPHERAL)
10local phCtrl = peripheral.wrap(CONTROLS_RELAY_PERIPHERAL)
11local phEnd = peripheral.wrap(ENDSTOP_RELAY_PERIPHERAL)
12
13local DRILL_CLUTCH = "right" -- Activates drill if unpowered
14local DRILL_GEARSHIFT = "left" -- Moves drill up if powered
15
16local MOVE_CLUTCH = "left" -- Activates gantry if unpowered
17local MOVE_GEARSHIFT = "right" -- Moves gantry backwards if powered, forward if not powered
18local MOVE_INVERT = "front" -- Switches axis Z to X
19
20local ENDSTOP_X = "left" -- Detects end of X axis
21local ENDSTOP_Z = "right" -- Detects end of Z axis, home
22local HOME_TIMEOUT_ITERATIONS = 30
23
24
25-- END CONFIG
26
27local function pick(value, a, b)
28 if value then
29 return a
30 else
31 return b
32 end
33end
34local function clamp(val, min, max)
35 if val < min then
36 return min
37 elseif val > max then
38 return max
39 else
40 return val
41 end
42end
43BLOCKS_PER_TICK = clamp(MOVE_RPM / 512, -0.49, 0.49)
44local function calculateSeconds(numBlocks)
45 return ((math.abs(numBlocks)) * BLOCKS_PER_TICK) + BLOCKS_PER_TICK
46end
47
48local function moveGantry(speed, invert)
49 if invert then
50 phCtrl.setOutput(MOVE_GEARSHIFT, true)
51 end
52 phCtrl.setOutput(MOVE_CLUTCH, false)
53 sleep(speed)
54 phCtrl.setOutput(MOVE_CLUTCH, true)
55 phCtrl.setOutput(MOVE_GEARSHIFT, false)
56end
57
58function MoveX(blocks)
59 local sec = calculateSeconds(blocks)
60 -- Set inverse control to switch to X axis
61 phCtrl.setOutput(MOVE_INVERT, true)
62 moveGantry(sec, blocks < 0)
63 phCtrl.setOutput(MOVE_INVERT, false)
64end
65function MoveZ(blocks)
66 local sec = calculateSeconds(blocks)
67 moveGantry(sec, blocks < 0)
68end
69--- Move the drill up or down N blocks
70function MoveDrill(blocks)
71 local sec = calculateSeconds(blocks)
72 if blocks > 0 then
73 phDrill.setOutput(DRILL_GEARSHIFT, true)
74 end
75 sleep(sec)
76 phDrill.setOutput(DRILL_CLUTCH, true)
77 phDrill.setOutput(DRILL_GEARSHIFT, false)
78end
79
80function Home()
81 -- Bring the drill up
82 phDrill.setOutput(DRILL_CLUTCH, false)
83 phDrill.setOutput(DRILL_GEARSHIFT, true)
84
85 io.write("Homing Z-axis.. ")
86 local i = 0
87 if phEnd.getInput(ENDSTOP_Z) then
88 MoveZ(1)
89 i = i + 1
90 if i > HOME_TIMEOUT_ITERATIONS then
91 error("Home X Timed out")
92 end
93 -- if ENDSTOP still active: at the end
94 -- if ENDSTOP not active: at the start
95 end
96 -- Move back
97 repeat
98 MoveZ(-1)
99 until phEnd.getInput(ENDSTOP_Z)
100 print("done")
101
102 io.write("Homing X-axis.. ")
103 i = 0
104 MoveX(-1)
105 repeat
106 MoveX(1)
107 i = i + 1
108 if i > HOME_TIMEOUT_ITERATIONS then
109 error("Home X Timed out")
110 end
111 until phEnd.getInput(ENDSTOP_X)
112 print("done")
113 Reset()
114end
115
116
117-- Tries to auto determine size, must be called after Home()
118function CalculateSize()
119 local x = 2 -- timing issues mean its off by 2
120 local z = 2
121 io.write("X: ")
122 repeat
123 MoveX(-1)
124 x = x + 1
125 until phEnd.getInput(ENDSTOP_X)
126 print(x)
127
128 sleep(1)
129
130 io.write("Z: ")
131 repeat
132 MoveZ(1)
133 z = z + 1
134 until phEnd.getInput(ENDSTOP_Z)
135 print(z)
136
137 return { x, z }
138end
139
140function IsAtEndstop(type)
141 if type == "X" then
142 return phEnd.getInput(ENDSTOP_X)
143 elseif type == "Z" then
144 return phEnd.getInput(ENDSTOP_Z)
145 else
146 error("invalid type")
147 end
148end
149
150-- Mines a layer, assuming at home
151function MineLayer(width, length)
152 local isRight = -1
153 local z = 1
154 phCtrl.setOutput(MOVE_CLUTCH, false)
155 repeat
156 print("Start Line", z)
157 -- phCtrl.setOutput(MOVE_CLUTCH, false)
158 phCtrl.setOutput(MOVE_INVERT, true) -- use x axis
159 -- phCtrl.setOutput(MOVE_GEARSHIFT, true)
160 -- phCtrl.setOutput(MOVE_GEARSHIFT, (not isLeft) and true or false)
161 io.write("X: moving")
162 io.write((width * isRight) .. " blocks..")
163
164 MoveX(width * isRight)
165 isRight = pick(isRight > 0, -1, 1)
166 -- repeat until os.pullEvent("redstone") and phEnd.getInput(ENDSTOP_X)
167 print("Done")
168
169 -- io.write("X: moving right.. ")
170 -- phCtrl.setOutput(MOVE_GEARSHIFT, false)
171 -- repeat until os.pullEvent("redstone") and phEnd.getInput(ENDSTOP_X)
172 -- print("Done")
173 -- isLeft = not isLeft
174 -- repeat
175 -- sleep(calculateSeconds(2))
176 -- -- phCtrl.setOutput(MOVE_CLUTCH, true)
177 -- -- phCtrl.setOutput(MOVE_GEARSHIFT, false)
178 -- x = x + 1
179 -- until phEnd.getInput(ENDSTOP_X)
180
181 -- -- reverse
182 -- phCtrl.setOutput(MOVE_GEARSHIFT, false)
183 -- repeat
184 -- sleep(0.2)
185 -- -- phCtrl.setOutput(MOVE_CLUTCH, true)
186 -- -- phCtrl.setOutput(MOVE_GEARSHIFT, false)
187 -- x = x + 1
188 -- until phEnd.getInput(ENDSTOP_X)
189
190 -- advance Z
191 -- z = z + 1
192 io.write("Z: advancing 1.. ")
193 phCtrl.setOutput(MOVE_CLUTCH, false)
194 phCtrl.setOutput(MOVE_INVERT, false) -- use z axis
195 phCtrl.setOutput(MOVE_GEARSHIFT, false)
196 -- MoveZ(-4)
197 sleep(calculateSeconds(1))
198 phCtrl.setOutput(MOVE_CLUTCH, true)
199 z = z + 1
200 print("Done")
201 -- sleep(0.4)
202 until phEnd.getInput(ENDSTOP_Z)
203end
204
205function Reset()
206 phDrill.setOutput(DRILL_CLUTCH, true)
207 phDrill.setOutput(DRILL_GEARSHIFT, false)
208
209 phCtrl.setOutput(MOVE_CLUTCH, true)
210 phCtrl.setOutput(MOVE_GEARSHIFT, false)
211 phCtrl.setOutput(MOVE_INVERT, false)
212end

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