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Leutech

Getting help with robot

Asked by Leutech

Question

Leutech

Leutech 0

Posted
Posted

Greetings dear OC Community.

 

I have a problem with my script for a robot to farming an area.

 

The robot get the 'start farming' info from a other computer over modem_message.

Here is the code from the computer that sends the start farming info to the robot. 

local component = require("component")
local term = require("term")
local event = require("event")
local fs = require("filesystem")

local gpu = component.gpu
local sensor = component.sensor
local modem = component.modem

local port = 2154

local robot_modem = "d6d10a42-eda8-4ea9-bca2-ee06f3311622"
local main_modem = "ad71011b-9016-4ad0-946f-76ee93d28d45"

local X1, X2 = 2, 9
local Y1, Y2, Y3, Y4 = 0, 1, 2, 3
local Z1_1, Z1_2, Z2_1, Z2_2, Z3_1, Z3_2, Z4_1, Z4_2 = 0, 7, 8, 14, 15, 21, 22, 28


function scan_stages()
  count1 = 0
  count2 = 0
  count3 = 0
  count4 = 0
  print("Scanne nach Farm...")
  for x = X1,X2,1 do
    for z = Z1_1,Z1_2,1 do
      scan = sensor.scan(x, Y1, z)
      label = scan.block.label
      meta = scan.block.meta
      if ( label == "Barley" ) then
        if ( meta == 0.0 ) then
          count1 = count1 + 0
        elseif ( meta == 1.0 ) then
          count1 = count1 + 1
        elseif ( meta == 2.0 ) then
          count1 = count1 + 2
        elseif ( meta == 3.0 ) then
          count1 = count1 + 3
        end
      else
        count1 = count1 - 1
      end
    end
    for z = Z2_1,Z2_2,1 do
      scan = sensor.scan(x, Y2, z)
      label = scan.block.label
      meta = scan.block.meta
      if ( label == "Barley" ) then
        if ( meta == 0.0 ) then
          count2 = count2 + 0
        elseif ( meta == 1.0 ) then
          count2 = count2 + 1
        elseif ( meta == 2.0 ) then
          count2 = count2 + 2
        elseif ( meta == 3.0 ) then
          count2 = count2 + 3
        end
      else
        count2 = count2 - 1
      end
    end
    for z = Z3_1,Z3_2,1 do
      scan = sensor.scan(x, Y3, z)
      label = scan.block.label
      meta = scan.block.meta
      if ( label == "Barley" ) then
        if ( meta == 0.0 ) then
          count3 = count3 + 0
        elseif ( meta == 1.0 ) then
          count3 = count3 + 1
        elseif ( meta == 2.0 ) then
          count3 = count3 + 2
        elseif ( meta == 3.0 ) then
          count3 = count3 + 3
        end
      else
        count3 = count3 - 1
      end
    end
    for z = Z4_1,Z4_2,1 do
      scan = sensor.scan(x, Y4, z)
      label = scan.block.label
      meta = scan.block.meta
      if ( label == "Barley" ) then
        if ( meta == 0.0 ) then
          count4 = count4 + 0
        elseif ( meta == 1.0 ) then
          count4 = count4 + 1
        elseif ( meta == 2.0 ) then
          count4 = count4 + 2
        elseif ( meta == 3.0 ) then
          count4 = count4 + 3
        end
      else
        count4 = count4 - 1
      end
    end
  end
  totalCount = count1 + count2 + count3 + count4
  send_info_to_robot()
end

function send_info_to_robot()
  if modem.isOpen(port) == false then
    modem.open(port)
  end
  modem.setStrength(400)
  print("Totale Anzal: " ..totalCount)
  if ( totalCount == 696 ) then
    print("Sende 'TRUE' Nachricht.")
    modem.send(robot_modem, port, "STARTING")
  elseif ( totalCount < 696 ) and ( totalCount > 0 ) then
    print("Sende 'FALSE' Nachricht.")
    modem.send(robot_modem, port, "WAITING")
  elseif ( totalCount < 0 ) then
    print("Sende 'TRUE' Nachricht.")
    modem.send(robot_modem, port, "STARTING")
  end
  local md, lA, rA, pt, distance, message = event.pull("modem_message")
  if message == "NOPOSITION" then
    print("ROBOTER HAT NICHT ENDPOSITION!")
    while true do
      local id, _ = event.pull("interrupted")
      computer.beep(1000, 10)
      if id == "interrupted" then
        break
      end
    end
  elseif message == "OK" then
    os.sleep(900)
    scan_stages()
  end
end
term.clear()
scan_stages()

 

And here ist the farming code from the robot. 

local component = require("component")
local term = require("term")
local event = require("event")
local sides = require("sides")

local r = require("robot")

local rs = component.redstone
local inv = component.inventory_controller

local modem = component.modem
local nav = component.navigation

local robot_modem = "d6d10a42-eda8-4ea9-bca2-ee06f3311622"
local server_modem = "1c0a3025-9ffc-43c1-9e03-39b6bca9b383"

local big_stage = 64
local small_stage = 56

local start_posX = 226.5
local start_posY = 71.5
local start_posZ = -26.5

local port = 2154

function init_farming()
  if r.placeDown() == false then
    r.useDown()
    r.placeDown()
  else
    r.placeDown()
  end
end

function start_farming_route()
  r.select(1)
  for i = 33,1,-1 do
    r.forward()
  end
  for i = 4,1,-1 do
    r.down()
  end
  r.turnleft()
  farm_first_stage()
end

function farming()
  for i = 7,1,-1 do
    init_farming()
    r.forward()
  end
  init_farming()
end

function turi()
  r.turnRight()
  r.forward()
  r.turnRight()
end

function tule()
  r.turnLeft()
  r.forward()
  r.turnLeft()
end

function farm_first_stage()
  farming()
  tule()
  farming()
  turi()
  farming()
  tule()
  farming()
  turi()
  farming()
  tule()
  farming()
  turi()
  farming()
  tule()
  farming()
  r.up()
  turi()
  farm_second_stage()
end
  
function farm_second_stage()
  r.select(2)
  farming()
  tule()
  farming()
  turi()
  farming()
  tule()
  farming()
  turi()
  farming()
  tule()
  farming()
  turi()
  farming()
  r.up()
  tule()
  farm_third_stage()
end

function farm_third_stage()
  r.select(3)
  farming()
  turi()
  farming()
  tule()
  farming()
  turi()
  farming()
  tule()
  farming()
  turi()
  farming()
  tule()
  farming()
  r.up()
  turi()
  farm_fourth_stage()
end

function farm_fourth_stage()
  r.select(4)
  farming()
  tule()
  farming()
  turi()
  farming()
  tule()
  farming()
  turi()
  farming()
  tule()
  farming()
  turi()
  farming()
  r.up()
  r.turnLeft()
  r.forward()
  r.forward()
  r.turnLeft()
  for i = 7,1,-1 do
    r.forward()
  end
  r.turnLeft()
  r.back()
  r.back()
  wait_for_next()
end

function wait_for_next()
  os.sleep(10)
  get_info_from_main()
end

function check_current_slot(selectedSlot, slot, value)
  r.select(selectedSlot)
  if not slot then
    inv.suckFromSlot(3, selectedSlot, value)
  elseif slot.name == "harvestcraft:barleyitem" then
    count = slot.size
    if count < value then
      difference = value - count
      inv.suckFromSlot(3, selectedSlot, difference)
    end
  else
    r.turnAround()
    count = slot.size
    r.dropIntoSlot(3, selectedSlot, count)
    r.turnAround()
    inv.suckFromSlot(3, selectedSlot, value)
  end
end
    

function start_farming()
  local posX, posY, posZ = nav.getPosition()
  local facing = nav.getFacing()
  local slot1 = inv.getStackInInternalSlot(1)
  local slot2 = inv.getStackInInternalSlot(2)
  local slot3 = inv.getStackInInternalSlot(3)
  local slot4 = inv.getStackInInternalSlot(4)
  r.select(1)
  if ( posX == start_posX ) and ( posY == start_posY ) and ( posZ == start_posZ ) then
    modem.send(server_modem, port, "OK")
  else
    modem.send(server_modem, port, "NOPOSITION")
  end
  if (facing == 2.0 ) then
    r.turnLeft()
  elseif ( facing == 5.0 ) then
    r.turnAround()
  elseif ( facing == 3.0 ) then
    r.turnRight()
  end
  check_current_slot(1, slot1, big_stage)
  check_current_slot(2, slot2, small_stage)
  check_current_slot(3, slot3, small_stage)
  check_current_slot(4, slot4, small_stage)
  rs.setOutput(0, 20)
  os.sleep(120)
  rs.setOutput(0, 0)
  r.turnRight()
  start_farming_route()
end
    
      
      

function get_info_from_main()
  if modem.isOpen(port) == false then
    modem.open(port)
  end
  modem.setStrength(400)
  local cp, lA, rA, pt, dist, msg = event.pull("modem_message")
  if msg == "WAITING" then
    wait_for_next()
  elseif msg == "STARTING" then
    start_farming()
  end
end
term.clear()
get_info_from_main()

 

So the problem is the first things he do it perfect, he get the items in his inventory, send the rs output signal to farm the area and let the water go away after 2 minutes. But if he want to plant the items he get an error.

The error is this: 

/home/Farming.lua:197: attempt to call a nil value (field 'select'):
stack traceback:
    /home/Farming.lua:197: in global 'start_farming'
    /home/Farming.lua:233: in global 'get_info_from_main'
    /home/Farming.lua:237: in main chunk
    (...tail calls...)
    [C]: in function 'xpcall'
    machine:798: in global 'xpcall'
    /lib/process.lua:63: in function </lib/process.lua:59>/home/Farming.lua:189: attempt to index a nil value (global 'robot'):
stack traceback:
    /home/Farming.lua:189: in global 'start_farming'
    /home/Farming.lua:225: in global 'get_info_from_main'
    /home/Farming.lua:229: in main chunk
    (...tail calls...)
    [C]: in function 'xpcall'
    machine:798: in global 'xpcall'
    /lib/process.lua:63: in function </lib/process.lua:59>/home/Farming.lua:43: attempt to call a nil value (field 'turnleft'):
stack traceback:
    /home/Farming.lua:43: in global 'start_farming_route'
    /home/Farming.lua:210: in global 'start_farming'
    /home/Farming.lua:225: in global 'get_info_from_main'
    /home/Farming.lua:229: in main chunk
    (...tail calls...)
    [C]: in function 'xpcall'
    machine:798: in global 'xpcall'
    /lib/process.lua:63: in function </lib/process.lua:59>/home/Farming.lua:43: attempt to call a nil value (field 'turnleft'):
stack traceback:
    /home/Farming.lua:43: in global 'start_farming_route'
    /home/Farming.lua:210: in global 'start_farming'
    /home/Farming.lua:225: in global 'get_info_from_main'
    /home/Farming.lua:229: in main chunk
    (...tail calls...)
    [C]: in function 'xpcall'
    machine:798: in global 'xpcall'
    /lib/process.lua:63: in function </lib/process.lua:59>/home/Farming.lua:43: attempt to call a nil value (field 'turnleft'):
stack traceback:
    /home/Farming.lua:43: in global 'start_farming_route'
    /home/Farming.lua:210: in global 'start_farming'
    /home/Farming.lua:225: in global 'get_info_from_main'
    /home/Farming.lua:229: in main chunk
    (...tail calls...)
    [C]: in function 'xpcall'
    machine:798: in global 'xpcall'
    /lib/process.lua:63: in function </lib/process.lua:59>

 

Please can someone help me?

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