Added harvest script.
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# harvest.lua
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Script for smart harvesting of rectangular farms of multiple crops.
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## Pastebin
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[ytYCVGsc](https://pastebin.com/ytYCVGsc)
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## Module Requirements
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* geolyzer
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* inventory_controller
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* *equipped hoe*
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## Instructions
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To operate the program, you simply need to run the program. If no `harvest.conf` config file exists, the program will guide you through the creation of it. For it, you'll need the following information:
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* On what side does the robot start harvesting (left or right)?
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* How many rows are in the field?
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* How many columns are in the field?
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* What crops will be grown?
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For each crop that will be grown, you will need the following pieces of information:
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1. The crop's block name (can be found using the `geolyzer` component.
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2. The floating point value at which the crop is ready to be harvested. Can also be found with the `geolyzer`.
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3. The name of the item used to replant the crop. This can be found in the minecraft inventory after pressing `F3 + H` to enable more detailed information for displayed items.
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Once all this information is entered, running the program will harvest the defined area, and drop all gathered items into a chest below the robot's resting point.
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### Diagram of setup
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The below diagram shows how farms should be set up: the robot faces into the first row, and has a charger behind it to replenish energy after each harvest. A chest or hopper can be placed below the robot for item collection.
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```
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CR---------
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---------
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---------
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---------
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---------
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---------
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```
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-- Harvest Program for robots. Uses a hoe and geolyzer for optimal harvesting.
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--[[
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Author: Andrew Lalis
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File: harvest.lua
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Version: 1.0
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Last Modified: 27-09-2018
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Description:
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This script enables a robot to harvest fields of crops quickly and efficiently.
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The robot will traverse the field and only harvest crops considered 'done' by
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their crop definition.
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--]]
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local robot = require("robot")
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local component = require("component")
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local fs = component.filesystem
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local serial = require("serialization")
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local geolyzer = component.geolyzer
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local ic = component.inventory_controller
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local sides = require("sides")
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local CONFIG_FILE = "harvest.conf"
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local LEFT = 1
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local RIGHT = 0
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-- List of crops which will be harvested.
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local crop_definitions = {
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["harvestcraft:pamsoybeancrop"] = {
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growth_limit = 0.42,
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item_name = "harvestcraft:soybeanitem"
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},
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["harvestcraft:pamspiceleafcrop"] = {
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growth_limit = 0.42,
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item_name = "harvestcraft:spiceleafitem"
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}
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}
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-- Repeats the given function until it returns true.
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local function doUntilSuccess(func)
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local success = func()
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while (not success) do
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success = func()
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end
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end
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-- Pre-defined path from turtle docking bay to start of harvest area (first crop).
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local function goToStart(rows, columns)
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doUntilSuccess(robot.forward)
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end
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-- Pre-defined path back to the turtle docking bay.
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local function goBack(rows, columns)
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for i=1,(columns-1) do
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doUntilSuccess(robot.back)
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end
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robot.turnRight()
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for i=1,(rows-1) do
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doUntilSuccess(robot.back)
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end
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robot.turnLeft()
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doUntilSuccess(robot.back)
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end
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--[[
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Select an item, given its name and damage value.
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item_name - string: The id string for an item.
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item_data - number: The damage value, or variation of an item. Defaults to zero.
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return - boolean: True if at least one slot contains the item. That slot is now
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selected.
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--]]
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local function selectItemByName(item_name, item_data)
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for i=1,16 do
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local stack = ic.getStackInInternalSlot(i)
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if (stack ~= nil and stack.name == item_name and stack.damage == item_data) then
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robot.select(i)
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return true
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end
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end
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return false
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end
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--[[
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Checks if the hoe is equipped. Meant to be done before starting a harvest.
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return - boolean: True if a hoe is equipped, or false if not.
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--]]
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local function isHoeEquipped()
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for i=1,16 do
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local item_stack = ic.getStackInInternalSlot(i)
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if (item_stack == nil) then
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robot.select(i)
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ic.equip()
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new_item_stack = ic.getStackInInternalSlot(i)
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if (new_item_stack ~= nil and string.match(new_item_stack.name, "_hoe")) then
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return true
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end
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return false
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end
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end
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return false
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end
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--[[
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Tries to harvest a plant, if it is one of the crops defined in the crop
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definitions table above.
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return - boolean: True if a plant was harvested, false otherwise.
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--]]
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local function harvestPlant()
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local plant_data = geolyzer.analyze(sides.bottom)
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local crop_definition = crop_definitions[plant_data.name]
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if (crop_definition == nil) then
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return false
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end
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if (plant_data.growth >= crop_definition.growth_limit) then
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robot.swingDown()
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selectItemByName(crop_definition.item_name, 0)
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robot.placeDown()
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return true
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else
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return false
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end
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end
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--[[
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Harvests one row of crops.
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length - int: The number of plants in this row.
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return - int: The number of crops that were harvested.
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--]]
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local function harvestRow(length)
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local harvests = 0
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for i=1,length do
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if (i > 1) then
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doUntilSuccess(robot.forward)
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end
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if (harvestPlant()) then
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harvests = harvests + 1
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end
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end
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return harvests
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end
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--[[
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At the end of the row, the robot must rotate into the next row, and this is
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dependent on where the start location is.
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current_row_index - int: The row the robot is on prior to turning.
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start_location - int: Whether the robot starts at the left or right.
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--]]
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local function turnToNextRow(current_row_index, start_location)
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if (current_row_index % 2 == start_location) then
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robot.turnRight()
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else
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robot.turnLeft()
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end
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doUntilSuccess(robot.forward)
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if (current_row_index % 2 == start_location) then
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robot.turnRight()
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else
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robot.turnLeft()
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end
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end
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--[[
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Harvests a two dimensional area defined by rows and columns. The robot starts
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by moving forward down the first row.
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rows - int: The number of rows to harvest.
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columns - int: The number of columns to harvest.
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start_location - int: 1 for LEFT, 0 for RIGHT.
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return - int: The total number of crops harvested.
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--]]
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local function harvestField(rows, columns, start_location)
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goToStart(rows, columns)
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-- Begin harvesting.
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local harvests = 0
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for i=1,rows do
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harvests = harvests + harvestRow(columns)
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-- Do not turn to the next row on the last row.
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if (i < rows) then
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turnToNextRow(i, start_location)
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end
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end
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goBack(rows, columns)
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return harvests
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end
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--[[
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Drops all carried items into an inventory below the robot.
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return - int: The number of items dropped.
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--]]
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local function dropItems()
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local item_count = 0
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for i=1,16 do
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robot.select(i)
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local stack = ic.getStackInInternalSlot(i)
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if (stack ~= nil) then
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doUntilSuccess(robot.dropDown)
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item_count = item_count + stack.size
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end
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end
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return item_count
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end
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--[[
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Reads config from a file.
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filename - string: The string path/filename.
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return - table|nil: The table defined in config, or nil if the file does not
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exist or another error occurs.
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--]]
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local function loadConfig(filename)
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if (fs.exists(filename) and not fs.isDirectory(filename)) then
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-- Config file exists.
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file = io.open(filename, "r")
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local t = serial.unserialize(file:read())
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file:close()
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return t
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else
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print("No config file " .. filename .. "exists. Please create it before continuing.")
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return nil
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end
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end
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--[[
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Guides the user in creating a new config.
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--]]
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local function createConfig(filename)
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local config = {}
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print("Does your robot start on the left or right of the field?")
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local input = io.read()
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if (input == "left") then
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config.START_LOCATION_RELATIVE = LEFT
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elseif (input == "right") then
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config.START_LOCATION_RELATIVE = RIGHT
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else
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print("Invalid choice. Should be either left or right.")
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return nil
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end
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print("Enter number of rows.")
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config.ROWS = tonumber(io.read())
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print("Enter number of columns.")
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config.COLS = tonumber(io.read())
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print("How many crops are being harvested?")
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for i=1,tonumber(io.read()) do
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print("Crop "..i..": What is the block name? (Use geolyzer to analyze it)")
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local name = io.read()
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config.crop_definitions[name] = {}
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print(" What is the growth threshold for harvesting?")
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config.crop_definitions[name].growth_limit = tonumber(io.read())
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print(" What is the item name of this crop?")
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config.crop_definitions[name].item_name = io.read()
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end
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file = io.open(filename, "w")
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file:write(serial.serialize(config))
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file:close()
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end
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local function main()
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local config = loadConfig(CONFIG_FILE)
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if (config == nil) then
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config = createConfig(CONFIG_FILE)
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end
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crop_definitions = config.crop_definitions
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local harvest_count = harvestField(config.ROWS, config.COLS, config.START_LOCATION_RELATIVE)
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local drop_count = dropItems()
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print(harvest_count..", "..drop_count)
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end
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