create gantry crane computercraft

libgantry.lua

-- libgantry
-- Crane control library
-- by Hri7566
-- Crane designed by Khorne_The_Proto

local gantry = {}

local bn = nil
local gs = nil
local red = nil
local blue = nil

function gantry:setup(bunkernet, sequenced_gearshift, red, blue, gearshift)
    bn = bunkernet
    gs = sequenced_gearshift
    red_side = red
    blue_side = blue
    gearshift_side = gearshift
end

function gantry:move(num)
    gs.move(num)
end

function gantry:red(enabled)
    -- Set red dye output
    rs.setOutput("right", enabled)
end

function gantry:blue(enabled)
    -- Set blue dye output
    rs.setOutput("top", enabled)
end

function gantry:setDirection(dir)
    -- Set motor direction
    rs.setOutput("back", dir)
end

function gantry:breakRope()
    bn:send({
        m = "big_crane_break"
    })

    os.sleep(5)
end

function gantry:waitForDumbass()
    while gs.isRunning() do
        os.sleep(0.2)
    end
end

function gantry:selectWinch()
    self:red(true)
    self:blue(true)
    self:setDirection(true)
    os.sleep(0.2)
end

function gantry:selectX()
    self:red(false)
    self:blue(true)
    self:setDirection(true)
    os.sleep(0.2)
end

function gantry:selectZ()
    self:red(false)
    self:blue(false)
    self:setDirection(false)
    os.sleep(0.2)
end

function gantry:moveWinch(num)
    self:selectWinch()

    if num < 0 then
        -- Up
        self:setDirection(false)
    else
        -- Down
        self:setDirection(true)
    end

    self:move(math.abs(num))
    os.sleep(num / 10)
end

function gantry:moveX(num)
    self:selectX()

    if num < 0 then
        -- Left
        self:setDirection(false)
    else
        -- Right
        self:setDirection(true)
    end

    self:move(math.abs(num))
    self:waitForDumbass()
end

function gantry:moveZ(num)
    self:selectZ()

    if num < 0 then
        -- Forward
        self:setDirection(true)
    else
        -- Back
        self:setDirection(false)
    end

    self:move(math.abs(num))
    self:waitForDumbass()
end

function gantry:reset()
    -- Reset crane position

    -- Break winch rope
    gantry:breakRope()

    gantry:moveX(-25)
    gantry:moveZ(-25)
end

return gantry