Program to run a BuildCraft-style quarry with the Create mod for Minecraft.

startup.lua

--[[
    top: y gearshift (on = -y, off = +y)
    bottom: z gearshift (on = down, off = up)
    front:
        red: x gearshift (on = -x, off = +x)
        blue: z up endstop
        yellow: z down endstop
        purple: y endstop
        green: x endstop
    back: x gantry (on = move) - inverted
    left: y gantry (on = move) - inverted
    right: z clutch (on = move) - inverted
]]

-- delays calculated for 96 RPM gantry speed
WAIT_DELAY = 1 -- delay in loops waiting for endstops to trigger
X_STEP_DELAY = 0.29
PRE_Y_STEP_DELAY = 0.1
Y_STEP_DELAY = 0.29

X_MIN,  Y_MIN  = 1,  1 -- leave this as 1, 1
X_MAX,  Y_MAX  = 31, 31 -- lengths of X and Y gantries
HEAD_X, HEAD_Y = 3,  3 -- size of the drill head

x, y = X_MIN, Y_MIN


function clamp(n, min, max)
    return math.min(math.max(n, min), max)
end


function getXEndstop()
    return rs.testBundledInput("front", colors.green)
end

function getYEndstop()
    return rs.testBundledInput("front", colors.purple)
end

function getZDownEndstop()
    return rs.testBundledInput("front", colors.yellow)
end

function getZUpEndstop()
    return rs.testBundledInput("front", colors.blue)
end

function setXDirPositive()
    rs.setBundledOutput("front", 0) -- this is fine because everything else on front is a receiver
end

function setXDirNegative()
    rs.setBundledOutput("front", colors.red) -- this is fine because everything else on front is a receiver
end

function setYDirPositive()
    rs.setOutput("top", false)
end

function setYDirNegative()
    rs.setOutput("top", true)
end

function setZDirUp()
    rs.setOutput("bottom", false)
end

function setZDirDown()
    rs.setOutput("bottom", true)
end

function moveX()
    rs.setOutput("back", true)
end

function stopX()
    rs.setOutput("back", false)
end

function moveY()
    rs.setOutput("left", true)
end

function stopY()
    rs.setOutput("left", false)
end

function moveZ()
    rs.setOutput("right", true)
end

function stopZ()
    rs.setOutput("right", false)
end


function stepX(steps, doLog) -- blocks
    steps = clamp(steps + x, X_MIN, X_MAX) - x
    if steps == 0 then
        return false
    elseif steps < 0 then
        setXDirNegative()
    else
        setXDirPositive()
    end
    moveX()
    sleep(X_STEP_DELAY * math.abs(steps))
    stopX()
    setXDirPositive()
    x = x + steps
    return true
end

function stepY(steps) -- blocks
    steps = clamp(steps + y, Y_MIN, Y_MAX) - y
    if steps == 0 then
        return false
    elseif steps < 0 then
        setYDirNegative()
    else
        setYDirPositive()
    end
    moveY()
    sleep(PRE_Y_STEP_DELAY + Y_STEP_DELAY * math.abs(steps))
    stopY()
    setYDirPositive()
    y = y + steps
    return true
end

function homeX()
    setXDirNegative()
    moveX()
    while not getXEndstop() do sleep(WAIT_DELAY) end
    stopX()
    setXDirPositive()
    x = X_MIN
end

function homeY()
    setYDirNegative()
    moveY()
    while not getYEndstop() do sleep(WAIT_DELAY) end
    stopY()
    setYDirPositive()
    y = Y_MIN
end

function homeZ()
    setZDirUp()
    moveZ()
    while not getZUpEndstop() do sleep(WAIT_DELAY) end
    stopZ()
end

function savePosition(xPos, yPos)
    local f = fs.open("quarry_pos.txt", "w")
    f.writeLine(xPos..","..yPos)
    f.close()
end

function loadPosition()
    if not fs.exists("quarry_pos.txt", "r") then
        return false, false
    end
    local f = fs.open("quarry_pos.txt", "r")
    local data = f.readLine()
    f.close()
    local xPos, yPos = data:match("(%d+),(%d+)")
    return tonumber(xPos), tonumber(yPos)
end

function findNextPosition()
    local nextY = y + HEAD_Y
    if nextY > Y_MAX then
        return x + HEAD_X, 1
    end
    return x, nextY
end


function home()
    stopX()
    stopY()
    stopZ()
    setXDirPositive()
    setYDirPositive()
    setZDirUp()

    x, y = X_MAX, Y_MAX

    print("Homing Z.")
    homeZ()

    print("Homing Y.")
    homeY()

    print("Homing X.")
    homeX()

    print("Done homing.")
end

function drill()
    print("Drilling column ("..math.ceil(x / HEAD_X)..", "..math.ceil(y / HEAD_Y)..") at position ("..x..", "..y..").")
    setZDirDown()
    moveZ()
    savePosition(x, y)
    sleep(5)
    while not getZDownEndstop() do sleep(WAIT_DELAY) end
    savePosition(findNextPosition())
    homeZ()
end


home()
prevX, prevY = loadPosition()
if prevX and prevY then
    if prevX > X_MAX or prevY > Y_MAX then
        error("Quarry has finished, or an invalid position was saved.")
    end
    stepX(prevX - 1)
    stepY(prevY - 1)
end

repeat
    repeat
        drill()
    until not stepY(HEAD_Y)
    homeY()
until not stepX(HEAD_X)
print("Done.")