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jackz's Avatar jackz revised this gist 9 months ago. Go to revision

1 file changed, 212 insertions

lib.lua(file created)

@@ -0,0 +1,212 @@
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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