jackz revised this gist . Go to revision
1 file changed, 212 insertions
lib.lua(file created)
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1 | + | DRILL_RELAY_PERIPHERAL = "redstone_relay_5" | |
2 | + | CONTROLS_RELAY_PERIPHERAL = "redstone_relay_6" | |
3 | + | ENDSTOP_RELAY_PERIPHERAL = "redstone_relay_8" | |
4 | + | DRILL_RPM = 32 | |
5 | + | MOVE_RPM = 120 | |
6 | + | -- The dimensions of the quarry site { x/width, z/length } | |
7 | + | LENGTH = { 6, 6 } | |
8 | + | ||
9 | + | local phDrill = peripheral.wrap(DRILL_RELAY_PERIPHERAL) | |
10 | + | local phCtrl = peripheral.wrap(CONTROLS_RELAY_PERIPHERAL) | |
11 | + | local phEnd = peripheral.wrap(ENDSTOP_RELAY_PERIPHERAL) | |
12 | + | ||
13 | + | local DRILL_CLUTCH = "right" -- Activates drill if unpowered | |
14 | + | local DRILL_GEARSHIFT = "left" -- Moves drill up if powered | |
15 | + | ||
16 | + | local MOVE_CLUTCH = "left" -- Activates gantry if unpowered | |
17 | + | local MOVE_GEARSHIFT = "right" -- Moves gantry backwards if powered, forward if not powered | |
18 | + | local MOVE_INVERT = "front" -- Switches axis Z to X | |
19 | + | ||
20 | + | local ENDSTOP_X = "left" -- Detects end of X axis | |
21 | + | local ENDSTOP_Z = "right" -- Detects end of Z axis, home | |
22 | + | local HOME_TIMEOUT_ITERATIONS = 30 | |
23 | + | ||
24 | + | ||
25 | + | -- END CONFIG | |
26 | + | ||
27 | + | local function pick(value, a, b) | |
28 | + | if value then | |
29 | + | return a | |
30 | + | else | |
31 | + | return b | |
32 | + | end | |
33 | + | end | |
34 | + | local 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 | |
42 | + | end | |
43 | + | BLOCKS_PER_TICK = clamp(MOVE_RPM / 512, -0.49, 0.49) | |
44 | + | local function calculateSeconds(numBlocks) | |
45 | + | return ((math.abs(numBlocks)) * BLOCKS_PER_TICK) + BLOCKS_PER_TICK | |
46 | + | end | |
47 | + | ||
48 | + | local 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) | |
56 | + | end | |
57 | + | ||
58 | + | function 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) | |
64 | + | end | |
65 | + | function MoveZ(blocks) | |
66 | + | local sec = calculateSeconds(blocks) | |
67 | + | moveGantry(sec, blocks < 0) | |
68 | + | end | |
69 | + | --- Move the drill up or down N blocks | |
70 | + | function 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) | |
78 | + | end | |
79 | + | ||
80 | + | function 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() | |
114 | + | end | |
115 | + | ||
116 | + | ||
117 | + | -- Tries to auto determine size, must be called after Home() | |
118 | + | function 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 } | |
138 | + | end | |
139 | + | ||
140 | + | function 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 | |
148 | + | end | |
149 | + | ||
150 | + | -- Mines a layer, assuming at home | |
151 | + | function 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) | |
203 | + | end | |
204 | + | ||
205 | + | function 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) | |
212 | + | end |
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