Mountain Mover

--[[
Author Minecraft Name: d_four
Author AKA : d4rkdr460n , bl4ckdr460n
Version: 0.3
]]--
--[[
Change Log v0.3
Fixed wrong vertical direction from save.
Change Log v0.2
Removed dual saving files.
Fixed facing wrong direction after refuel.
Fixed Not emptying inventory when full.
]]--
-- current bugs and plans for future updates ---
-- sometimes turtle faces wrong direction after refuel--
-- Clear it config area --
--Config Vars
local amountOfStripsBeforeFullInvCheck = 3 -- read the variable
local topGap = 5	  -- amount of space above before moving to next spot
local minimumFuelLevel = 40	-- minimum fuel to keep as a buffer (lower = more efficient | higher = more stable)
-- Timing Vars
local gpsTimeToWait = 0.2	 -- Time to wait for GPS signal (higher for slower computers)
-- Locational Vars
local cx,cy,cz = 0,0,0	 -- Current Location
local currentFacing = 0	 -- Current Facing Direction NESW
local distanceToFuel = 0	-- Distance away from fuel
local lastActionPositionx,lastActionPositiony,lastActionPositionz = 0,0,0  -- Last position working before leaving for nom noms
local lastActionFacing = 0	-- direction of last strip mining action
-- Program Logic Vars
local running = true	 -- should program run boolean
local isSetup = true	  -- Currently needs to be setup
local goingUp = true	 -- going up or down
local skipSetup = false	 -- skip setup (recover from crash/servershutdown,loss of chunk loading etc)
local forceCheck = false	-- force a return home
local overrideNextActionFace = false
-- File Saving
local statusFile = "status.txt"   -- name of the file to store current status (used to record current action allowing turtle to resume from latest point)
-- Program Logic Vars
local running = true	 -- should program run boolean
local isSetup = true	  -- Currently needs to be setup
local goingUp = true	 -- going up or down
local skipSetup = false	 -- skip setup (recover from crash/servershutdown,loss of chunk loading etc)
local forceCheck = false	-- force a return home
local notAtEnd = true	 -- not finished mining yet
local overrideNextActionFace = false
-- debug and display vars
local currentMissionString = "   Being Static   "  -- Current Mission [ Getting Dinner , Being Static , On The Job , moving doen etc]
local debugMode = false	 -- display verbose
local debugLevel = 0	 -- level of debug (0=minimum, 1=variableOnly ,2=Variable+function,3=All)
local debugWriteToFile = false	-- write debug to file
-- KEY MAP -------------------------------------
local keys = {}
keys[2] = 1
keys[3] = 2
keys[4] = 3
keys[5] = 4
keys[6] = 5
keys[7] = 6
keys[8] = 7
keys[9] = 8
keys[10] = 9
keys[11] = 0
keys[79] = 1
keys[80] = 2
keys[81] = 3
keys[75] = 4
keys[76] = 5
keys[77] = 6
keys[71] = 7
keys[72] = 8
keys[73] = 9
keys[82] = 0
keys[28] = "Enter"
keys[200] = "Up"
keys[203] = "Left"
keys[205] = "Right"
keys[208] = "Down"
-- COORD LOCATIONS -----------------------------
local coords = {}
coords[1] = {{["x"]=21, ["y"]=5, ["var"] = 0},
	{["x"]=28, ["y"]=5, ["var"] = 0},
	{["x"]=35, ["y"]=5, ["var"] = 0}}
coords[2] = {{["x"]=21, ["y"]=6, ["var"] = 0},
	{["x"]=28, ["y"]=6, ["var"] = 0},  
	{["x"]=35, ["y"]=6, ["var"] = 0}}
coords[3] = {{["x"]=21, ["y"]=7, ["var"] = 0},  
	{["x"]=28, ["y"]=7, ["var"] = 0},  
	{["x"]=35, ["y"]=7, ["var"] = 0}}
-- FUNCTIONS -----------------------------------
function checkFuel()
debugInfo("checking Fuel", 2)
if(turtle.getFuelLevel() < (getDistanceTofuel()+minimumFuelLevel)) or forceCheck == true then
  forceCheck = false
  GoToLocation(coords[1][1]["var"],coords[1][2]["var"],coords[1][3]["var"])
  Turn(1)  
  for i=1,16 do  
   turtle.select(i)  -- select slot  
   turtle.drop()  -- put in chest (mined items)  
   turtle.suckDown() -- pull from lower chest (fuel)
  end  
  eat()
  GoToLocation(lastActionPositionx,lastActionPositiony,lastActionPositionz)
  Turn(lastActionFacing)
end
end
function eat()
debugInfo("eating", 2)
currentMissionString = "Needing Nom Noms"
menu()
local i = 1
while i < 17 do
  turtle.select(i)
  turtle.suckDown()
  if turtle.refuel(1) == true then  
   turtle.refuel()   i = 17 -- only take 1 stack (decreases trips to drop off mined materials)
  elseif i == 16 and turtle.getFuelLevel() < minimumFuelLevel  then  
   feedMe()
  end
  i = i + 1
  sleep(0.5)
end
turtle.select(1)
end
function feedMe()
debugInfo("waiting for feed" ,2)
currentMissionString = "Waiting for nom noms"
local event, param1 = os.pullEvent ("char")  
eat()
end
function Turn(direction)
debugInfo("turning to "..tostring(direction), 1)
if direction == 0 then
  if currentFacing == 1 then
   debugInfo("turning left 1 ", 1)	
   TurnLeft(1)  
  elseif
   currentFacing == 2 then
   debugInfo("turning 180", 1)	  
   TurnRight(2)	
  elseif currentFacing == 3 then
   debugInfo("turning right", 1)	  
   TurnRight(1)	
  end  
elseif direction == 1 then	
  if currentFacing == 2 then	  
   TurnLeft(1)	
  elseif currentFacing == 3 then	  
   TurnRight(2)	
  elseif currentFacing == 0 then	  
   TurnRight(1)	
  end  
elseif direction == 2 then	
  if currentFacing == 3 then	  
   TurnLeft(1)	
  elseif currentFacing == 0 then	  
   TurnRight(2)	
  elseif currentFacing == 1 then	  
   TurnRight(1)	
  end  
else -- direction 3	
  if currentFacing == 0 then	  
   TurnLeft(1)	
  elseif currentFacing == 1 then	  
   TurnRight(2)	
  elseif currentFacing == 2 then	  
   TurnRight(1)	
  end  
end
end
function TurnRight(times)
debugInfo("turning Right", 2)
-- turning right
for i=1,times do  
  turtle.turnRight()  
  currentFacing = currentFacing +1  
  if currentFacing == 4 then	
   currentFacing = 0  
  end
end
end
function TurnLeft(times)
-- turning left
debugInfo("Turning Left", 2)
for i=1,times do  
  turtle.turnLeft()  
  currentFacing = currentFacing -1  
  if currentFacing < 0 then	
   currentFacing = 3  
  end
end
end
function GoForward(times)
debugInfo("Going Forward", 2) -- move some
for i=1,times do  
  if turtle.detect() then	
   turtle.dig()  
  end  
  turtle.forward()
end
end
function GoDown(times)
debugInfo("Getting Down", 2)
for i=1,times do  
  if turtle.detectDown() then	
   turtle.digDown()  
  end  
  turtle.down()
end
end
function GoUp(times)
debugInfo("Getting High", 2)
for i=1,times do  
  if turtle.detectUp() then	
   turtle.digUp()  
  end  
  turtle.up()
end
end
function GetFace()
debugInfo("Is that north", 2)
local oldx,oldy,oldz = GetPos()
GoForward(1)
GetPos()
if cx > oldx then
  -- west  
  currentFacing = 3
elseif cx < oldx then
  -- east  
  currentFacing  = 1
elseif cz > oldz then
  -- south  
  currentFacing = 0
else
  -- north  
  currentFacing = 2
end
debugInfo("Facing "..tostring(currentFacing), 1)
end
function setLastActionPosition()
lastActionPositionx, lastActionPositiony, lastActionPositionz = GetPos()
lastActionFacing = currentFacing
end
function AtHome()
debugInfo("am I home?", 2)
GetPos()
if cx == coords[1][1]["var"] then  
  if cy == coords[1][2]["var"]  then	
   if cz == coords[1][3]["var"]  then		
	return true	
   else		
	return false	
   end  
  else	
   return false  
  end
else  
  return false
end
end
function GetPos()
debugInfo("Where am I?", 2)
cx,cy,cz = gps.locate(gpsTimeToWait,debugModeGPS)
if(cx == nil) then
  rednet.open("right")
  cx,cy,cz = gps.locate(gpsTimeToWait,debugModeGPS)
end
locx, locy, locz = gps.locate(gpsTimeToWait,debugModeGPS)
debugInfo(tostring(locx).." "..tostring(locy).." "..tostring(locz), 1)
return gps.locate(gpsTimeToWait,debugModeGPS)
end
function GoToLocation(x,y,z)
debugInfo("going to"..tostring(x).."x "..tostring(y).."y "..tostring(z).."z", 1)
while cx ~= x or cy ~= y or cz ~= z do
  GetPos()
  if cx < x then  
   -- east of it so go east
   Turn(3)  
   GoForward(math.abs(cx-x))
  elseif  cx > x then
   -- west of it  so go east
   Turn(1)  
   GoForward(math.abs(cx-x))
  end
  if cy < y then  
   -- under it  
   GoUp(math.abs(cy-y))
  elseif cy > y then
   -- over it  
   GoDown(math.abs(cy-y))
  end
  if cz > z then
   -- south of it so go north
   Turn(2)  
   GoForward(math.abs(cz-z))
  elseif cz < z then
   -- north of it so go south
   Turn(0)  
   GoForward(math.abs(cz-z))
  end
  sleep(0.5)
end
end
function atLastActionPosition()
debugInfo("setting last action", 2)
GetPos()
if cx == lastActionPositionx then  
  if cy == lastActionPositiony then	
   if cz == lastActionPositionz then	  
	if lastActionFacing ~= currentFacing then	  
	 Turn(lastActionFacing)	  
	end		
	return true	
   else		
	return false	
   end  
  else	
   return false  
  end
else  
  return false
end
-- checkFuel()
end
function clearStripUp()
debugInfo("Mining Up", 2)
local atTop = false
local currentGap = 0
GetPos()
while atTop == false do
  if coords[3][2]["var"] > cy then --
   if turtle.detectUp() or turtle.detect() then  
	turtle.digUp()  
	turtle.dig()  
	GoUp(1)  
	cy = cy + 1 -- reduce rednetpings  
   else  
	turtle.dig()  
	currentGap = currentGap + 1  
	if currentGap == topGap then	
	 currentGap = 0	
	 atTop = true	
	 goingUp = false  
	end  
	GoUp(1)  
	cy = cy + 1 -- reduce rednetpings  
   end	
   checkFuel()
  else  
   atTop = true  
   goingUp = false
  end
  setLastActionPosition()
  sleep(0.5)
end
atEndCheck()
end
function clearStripDown()
debugInfo("Mining Down", 2)
GetPos()
while cy > coords[2][2]["var"] do
  if turtle.detectDown() or turtle.detect() then  
   turtle.digDown()  
   turtle.dig()  
   GoDown(1)  
   cy = cy - 1 -- reduce rednetpings
  else  
   turtle.dig()  
   GoDown(1)  
   cy = cy - 1 -- reduce rednetpings
  end
  checkFuel()
  sleep(0.5)
end
atEndCheck()
setLastActionPosition()
goingUp = true
end
function menu()
debugInfo("Show Menu", 2)
local hr = "#=====================================#"
local writeLine = 1
local targetLine = 1
term.clear() -- clear screen
term.setCursorPos(1, 1) -- reset cursor
writeALine(hr)
writeALine("# Welcome to d_four's Mountian Mover  #")
writeALine(hr)
writeALine("#	 Location:	 X	  Y	  Z   #")
writeALine("#	 Drop off:"..setSizeString(coords[1][1]["var"],6).." "..setSizeString(coords[1][2]["var"],6).." "..setSizeString(coords[1][3]["var"],6).."   #")
writeALine("# Target Start:"..setSizeString(coords[2][1]["var"],6).." "..setSizeString(coords[2][2]["var"],6).." "..setSizeString(coords[2][3]["var"],6).."   #")
writeALine("#   Target End:"..setSizeString(coords[3][1]["var"],6).." "..setSizeString(coords[3][2]["var"],6).." "..setSizeString(coords[3][3]["var"],6).."   #")
--writeALine("#									 #")
writeALine("#	Amount of Fuel:   "..setSizeString(turtle.getFuelLevel(),9).."	  #")
--writeALine("#									 #")
writeALine("#Current Mission:"..setSizeString(currentMissionString, 21).."#")

if isSetup == true then
  writeALine("#	 press y to complete setup	   #")
else
  writeALine("#									 #")
end writeALine(hr)
debugInfo(currentMissionString, 2)
term.setCursorPos(1, 12) -- set cursor to visible area
end
function setSizeString(string,size)
string = tostring(string)
while string.len(string) < size do
  string = " "..string
end
return string
end
function writeALine(string)
local x,y = term.getCursorPos()
term.write(string) -- x right : y down
term.setCursorPos(x,y+1)
end
function setup()
debugInfo("Doing Setup", 2)
local crow = 1
local ccol = 1
while isSetup == true do
  menu()
  term.setCursorBlink(true)
  term.setCursorPos(coords[crow][ccol]["x"],coords[crow][ccol]["y"])
  local event, key = os.pullEvent("key")
  if keys[key] == "Left" or keys[key] == "Up" or keys[key] == "Down" or keys[key] == "Right" then  
   if keys[key] == "Left" then  
	if ccol > 1 then	
	 ccol = ccol - 1  
	end  
   end  
   if keys[key] == "Right" then  
	if ccol < 3 then	
	 ccol = ccol + 1  
	end  
   end  
   if keys[key] == "Up" then  
	if crow > 1 then	
	 crow = crow - 1  
	end  
   end  
   if keys[key] == "Down" then  
	if crow < 3 then	
	 crow = crow + 1  
	end  
   end
  elseif key == 14 or key == 211 then  
   -- delete key pressed  
   if(string.len(tostring(coords[crow][ccol]["var"]))) > 1 then  
   coords[crow][ccol]["var"] = tonumber( string.sub(coords[crow][ccol]["var"] ,0 ,string.len(coords[crow][ccol]["var"])-1 ))  
   else  
	coords[crow][ccol]["var"] = 0  
   end
  elseif key == 12 then  
   -- minus key pressed  
   coords[crow][ccol]["var"] = coords[crow][ccol]["var"] - coords[crow][ccol]["var"] - coords[crow][ccol]["var"]
  elseif key == 21 then  
   -- y key pressed setup finished  
   isSetup = false
   lastActionPositionx = coords[2][1]["var"]
   lastActionPositiony = coords[2][2]["var"]
   lastActionPositionz = coords[2][3]["var"]
   lastActionFacing = faceDirectionOfNextAction()
  elseif key == 16 then  
   -- q key pressed quit time  
   term.clear()  
   term.setCursorPos(1,1)  
   print("Good Bye!")  
   isSetup = false  
   running = false
  else  
   if(keys[key] ~= nil) and keys[key] ~= "Enter" then  
	if(string.len(coords[crow][ccol]["var"]) < 5) then	
	 -- not menu move key so add values to current positions value	
	 coords[crow][ccol]["var"] = tonumber(coords[crow][ccol]["var"] .. keys[key])  
	elseif debugLevel > 2 then	
	 print(key)  
	end  
   end
  end
  sleep(0.5)
end
end
function quit()
debugInfo("Quitting", 3)
local event, key = os.pullEvent("key")
if key == 16 then
  term.clear()
  term.setCursorPos(1,1)
  print("Good Bye!")
  running = false
end
end
function moveToLastActioArea()
debugInfo("Going to last action space", 2) -- move to target start or last action position
if(lastActionPositionx == 0) and (lastActionPositiony == 0) and (lastActionPositionz == 0) then
  -- start at beginning
  setLastActionPosition()
  currentMissionString = "Going to Start "
  menu()
  GoToLocation(coords[1][1]["var"],coords[1][2]["var"],coords[1][3]["var"])
  goingUp = true
else
  -- go to last action area
  currentMissionString = "Resuming Position "
  menu()
  GoToLocation(lastActionPositionx,lastActionPositiony,lastActionPositionz)
  overrideNextActionFace = true --[[BLOCK COMMENT KEEP AN EYE ON THIS MAY NOT BE NEEDED]]--
end
end
function faceDirectionOfNextAction()
debugInfo("Facing last direction", 2) -- if last acion face is set face that way and return
if overrideNextActionFace == true then
  overrideNextActionFace = false
  Turn(lastActionFacing)
  return lastActionFacing
end -- face direction of actions: at start or end of line
if coords[3][1]["var"] >= coords[2][1]["var"] then
  debugInfo("Will now Face West", 1)
  Turn(3)   -- face west and dig
  return 3
elseif coords[3][1]["var"] <= coords[2][1]["var"] then
  debugInfo("Will now Face East", 1)
  Turn(1)   -- face east and dig
  return 1
elseif coords[3][3]["var"] >= coords[2][3]["var"] then
  debugInfo("Will now Face South", 1)
  Turn(0)   -- face south and dig
  return 0
elseif coords[3][3]["var"] <= coords[2][3]["var"] then
  debugInfo("Will now Face North", 1)
  Turn(2)   -- face north and dig
  return 0
else  
  debugInfo("I got lost", 2)
end
end
function doMining()
debugInfo("Time to mine", 2) -- if up go up till spaces = 5 or upper limit reached else down till y = lower limit

local inventoryCheck = amountOfStripsBeforeFullInvCheck
while notAtEnd == true do
  if goingUp == true then  
   -- continue mining up  
   currentMissionString = "Mining Up "  
   menu()  
   clearStripUp()  
   savePointRecord("mining")  
   inventoryCheck = inventoryCheck - 1
  else  
   -- continue mining down  
   currentMissionString = "Mining Down "  
   menu()  
   clearStripDown()  
   savePointRecord("mining")  
   inventoryCheck = inventoryCheck - 1
  end
  if inventoryCheck < 1 then  
   inventoryCheck = amountOfStripsBeforeFullInvCheck  
   if spacesInInventory() == false then  
	forceCheck = true  
   end
  end
  chooseNewDirection()
  sleep(0.5)
end
-- got to end
GoToLocation(coords[1][1]["var"],coords[1][2]["var"],coords[1][3]["var"])
end
function spacesInInventory()
totalSpaces = 0
for i=1 , 16 do
  if turtle.getItemSpace(i) == 64 then  
   totalSpaces = totalSpaces + 1
  end
end
if totalSpaces > 1 then
  return true
end
return false
end
function chooseNewDirection()
debugInfo("Chosing next direction", 2)
GetPos()
if currentFacing == 3 then---------------------------- Facing east
  if coords[3][1]["var"] <= cx then -- at end
   -- reached the end of row
   -- turn into new next strip
   if coords[3][3]["var"] > cz then -- end location is south
	Turn(0)
	GoForward(1)  
	Turn(1)
   else ------------------------------ end location is north
	Turn(2)  
	GoForward(1)  
	Turn(1)
   end  
  else ------------------------------ end is east
   if coords[3][1]["var"] == (cx +1) then -- is end 1 more meter east?
	GoForward(1)
   else
	GoForward(2)
   end
  end
elseif currentFacing == 1 then------------------------- Facing West  
  if coords[2][1]["var"] >= cx then  
   -- reached the end of row  
   if coords[3][3]["var"] > cz then
	Turn(0)
	GoForward(1)  
	Turn(3)
   else  
	Turn(2)  
	GoForward(1)  
	Turn(3)
   end  
  else
   -- add condition to go one forward when it equals end
   if coords[3][1]["var"] == (cx -1) then
	GoForward(1)
   else
	GoForward(2)
   end
  end
elseif currentFacing == 0 then  ----------------------- Facing south
  if coords[3][3]["var"] <= cz then  
   -- reached the end of row  
   if coords[3][1]["var"] > cx then
	Turn(3)
	GoForward(1)  
	Turn(0)
   else  
	Turn(3)  
	GoForward(1)  
	Turn(2)
   end  
  else
   -- add condition to go one forward when it equals end
   if coords[3][3]["var"] == (cz +1) then
	GoForward(1)
   else
	GoForward(2)
   end
  end
else -------------------------------------------------- Facing north
  if coords[2][3]["var"] >= cz then  
   -- reached the end of row  
   if coords[3][1]["var"] > cx then
	Turn(3)
	GoForward(1)  
	Turn(2)
   else  
	Turn(3)  
	GoForward(1)  
	Turn(0)
   end  
  else
   -- add condition to go one forward when it equals end  
   if coords[3][3]["var"] == (cz -1) then
	GoForward(1)
   else
	GoForward(2)
   end
  end
end
end
function getDistanceTofuel()
debugInfo("How Far to nom noms", 3)
GetPos()
local xDistance = math.abs(cx - coords[1][1]["var"])
local yDistance = math.abs(cy - coords[1][2]["var"])
local zDistance = math.abs(cz - coords[1][3]["var"])
local distance = xDistance+yDistance+zDistance
debugInfo(tostring(distance), 1)
return distance
end
function serealize(table, name, saveString)
if type(name) == "string" then  
  saveString = saveString..name.." = {" -- opens table
else
  -- table has no name [will stick with index ints]
  saveString = saveString.."{"
end -- loop through each table entry
first = true
for key1,val1 in pairs( table ) do  
  if first == true then  
   first = false
  else  
   saveString = saveString..","
  end
  -- check if table has tables in
  if type (val1) == "table" then  
   saveString = serealize(val1,key1,saveString) -- go back through serializer
  elseif type (key1) == "string" then  
   saveString = saveString.."[\""..tostring(key1).."\"] = "..tostring(val1)..""
  else  
   -- not a table  
   saveString = saveString..tostring(val1)..""
  end
end
saveString = saveString.."}" -- closes table
return saveString
end
function unserealize(string)
makeVar = loadstring(string.."; return coords")  -- create function from string
coords = makeVar()	  -- execute string
end
function savePointRecord(curretJob)
debugInfo("Saving", 2)
local savefile  
savefile = fs.open( statusFile , "w")
savefile.writeLine(curretJob)
savefile.writeLine(serealize(coords,"coords", "")) -- serialise table into a string for saving
savefile.writeLine("lastActionPositionx:"..tostring(lastActionPositionx))
savefile.writeLine("lastActionPositiony:"..tostring(lastActionPositiony))
savefile.writeLine("lastActionPositionz:"..tostring(lastActionPositionz))
savefile.writeLine("lastActionFacing:"..tostring(lastActionFacing))
savefile.writeLine("goingUp:"..tostring(goingUp))
savefile.close()
end
function savePointLoad()
debugInfo("Loading", 2)
if fs.exists(statusFile) then
  local savefile = fs.open(statusFile , "r") -- open file to read
  local firstString = savefile.readLine()
  if firstString ~= "atSetup" then
   unserealize(savefile.readLine())
   lastActionPositionx = tonumber(splitString(savefile.readLine(),':'))
   lastActionPositiony = tonumber(splitString(savefile.readLine(),':'))
   lastActionPositionz = tonumber(splitString(savefile.readLine(),':'))
   lastActionFacing = tonumber(splitString(savefile.readLine(),':'))
   if savefile.readLine() == "goingUp:true" then  
	goingUp = false -- revert to previous save
   else  
	goingUp = true
   end
   skipSetup = true
   overrideNextActionFace = true
  end
  savefile.close()
end
end
function splitString(string,delimiter)
returnString = string.sub(string , string.find(string ,delimiter)+1, -1)
return returnString
end
function debugInfo(string, level)
if level <= debugLevel then
  if debugMode == true then
   if debugWriteToFile then
	debugfile = fs.open("debuglog", "a")
	debugfile.writeLine(string)
	debugfile.close()
   end
   rednet.broadcast(string)
  end
end
end
function checkLoad()
if fs.exists(statusFile) or fs.exists(statusFile2) then
  print("Save File Located: Do you want to load this file? y/n")
  local choiceMade = false
  while choiceMade == false do
   local event, char = os.pullEvent("char")
   if char == "y" then
	savePointLoad() -- load up save data if save data does not contain atSetup
	choiceMade = true
   elseif char == "n" then
	lastActionPositionx = 0
	lastActionPositiony = 0
	lastActionPositionz = 0
	lastActionFacing = 0
	goingUp = true
	overrideNextActionFace = false
	setup()
	savePointRecord("atSetup") -- overwrie both
	savePointRecord("atSetup")
	choiceMade = true
   end
  end
end
end
function atEndCheck()
GetPos()
if ((math.abs(coords[2][1]["var"] - coords[3][1]["var"])) % 2) == 0 then
  -- even number of rows so end at start x loc and end z loc
  if cx == coords[2][1]["var"] and cz == coords[3][3]["var"] then
   notAtEnd = false
   running = false
  end
else
  -- odd number of rows so end and end x and end z
  if cx == coords[3][1]["var"] and cz == coords[3][3]["var"] then
   notAtEnd = false
   running = false
  end
end
end
-- MAIN LOOP ---------------------------------------
checkLoad()
running = true
while running == true do
debugInfo("Running Prog", 3)
if running == true then
  currentMissionString = "Getting Location "
  GetFace() -- get current facing N,E,S,W, and location
  menu()
  while atLastActionPosition() == false do
   moveToLastActioArea()
   sleep(0.5)
  end
  faceDirectionOfNextAction()
  doMining()
  debugInfo("Time for quick Snooze", 3)
  sleep(0.5)
end
end
print("Mission Complete")