init

disk/0/pf

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+home = vector.new(-250, 96, 108)
+up = vector.new(0,1,0)
+south = vector.new(0,0,1)
+east = vector.new(1,0,0)
+function greedystep(target)
+    if (target-position):dot(facing) > 0 then
+        if turtle.forward() then
+            position = position + facing
+        elseif position + facing ==target then
+            return false, "the target is occupied"
+        else
+            
+            
+            temp = (target-position):dot(facing:cross(up))
+            if temp>0 then
+                turtle.turnRight()
+                facing = facing:cross(up)
+            elseif temp<0 then
+                turtle.turnLeft()
+                facing = - facing:cross(up)
+            else
+                temp = (target-position):dot(up)
+                if temp>0 then
+                    if turtle.up() then
+                        position = position+up
+                    end
+                elseif temp<0 then
+                    if turtle.down() then
+                        position = position-up
+                    end
+                else
+                    error("help me im stuck")
+                end 
+            end
+        end
+    else
+        --we did not need to move in that direction
+        temp = (target-position):dot(facing:cross(up)) 
+        if temp > 0 then
+            turtle.turnRight()
+            facing=facing:cross(up)
+        elseif temp < 0 then
+            turtle.turnLeft()
+            facing=facing:cross(-up)
+        else
+            if (target-position):dot(facing) == 0 then
+                temp = (target-position):dot(up)
+                if temp == 0 then
+                    return false,"the target has been reached" 
+                else
+                    if temp > 0 then
+                        if turtle.up() then
+                            position:add(up)
+                        else
+                            position.sub(up)
+                        end
+                    end
+                end
+                
+                            
+            end    
+        end
+    end
+--    print(position,facing)
+    _G.position = position
+    _G.facing = facing
+    return true    
+end
+greedystep = require("pathfinding2").greedystep
+function to(target)
+    print(tostring(target))
+    while greedystep(target) do
+    end
+end
+function returnhome()
+    to(home)
+    if facing == south then
+        turtle.turnRight()
+        facing=facing:cross(up)
+    end
+    if facing == east then
+        turtle.turnLeft()
+        facing=facing:cross(-up)
+    end
+    if facing == -south then
+        turtle.turnLeft()
+        facing=facing:cross(-up)
+    end
+    _G.facing = facing
+    _G.position = position        
+end
+function lookat(target)
+    print("lookat")
+    while (position+facing).x ~= target.x 
+    or   (position+facing).z ~= target.z do
+        greedystep(target)
+    end
+    print("temp")
+    temp = target.y-position.y
+    while target.y > position.y do
+        turtle.up()
+        position = position+up        
+    end
+    while target.y < position.y do
+        turtle.down()
+        position = position-up
+    end
+    _G.position = position
+end
+return {to = to,
+returnHome=returnhome,
+lookat = lookat,
+home = home}