From 5334ea824195247d5bc4e63587545637f1c49e4e Mon Sep 17 00:00:00 2001
From: Christoph <christoph.urlacher@protonmail.com>
Date: Sun, 5 Oct 2025 21:44:01 +0200
Subject: [PATCH] Improve turning logic in TurtleController and add edgecases
 in MoveToPosition when at the front/back of the mining area

---
 controller/turtle_controller.lua | 75 +++++++++++++++++++-------------
 1 file changed, 45 insertions(+), 30 deletions(-)

diff --git a/controller/turtle_controller.lua b/controller/turtle_controller.lua
index 347794c..6ffc753 100644
--- a/controller/turtle_controller.lua
+++ b/controller/turtle_controller.lua
@@ -55,16 +55,20 @@ function TurtleController:TurnRelative(number_of_turns)
         return
     end
 
-    print(("Turtle is turning by %d..."):format(number_of_turns))
-
     self:RefuelIfEmpty()
 
     -- Turn turtle
-    for _ = 1,math.abs(number_of_turns) do
-        if number_of_turns > 0 then
+    local turns = number_of_turns % 4
+    if turns == 3 then
+        print(("Turtle is turning by %d (shortened to %d)..."):format(number_of_turns, -1))
+
+        -- If we're rotating by 3, we could turn faster by rotating by 1 in the opposite direction
+        turtle.turnLeft()
+    else
+        print(("Turtle is turning by %d (shortened to %d)..."):format(number_of_turns, turns))
+
+        for _ = 1,turns do
             turtle.turnRight()
-        else
-            turtle.turnLeft()
         end
     end
 
@@ -79,17 +83,7 @@ function TurtleController:TurnToDirection(direction)
         return
     end
 
-    print(("Turtle is turning to direction %d..."):format(direction))
-
-    self:RefuelIfEmpty()
-
-    local rotation = direction - self.position.dir
-    if math.abs(rotation) == 3 then
-        -- If we're rotating by 3, we could turn faster by rotating by 1 in the opposite direction
-        rotation = -1 * (rotation - 1)
-    end
-
-    self:TurnRelative(rotation)
+    self:TurnRelative(direction - self.position.dir)
 end
 
 
@@ -133,9 +127,9 @@ function TurtleController:MoveRelative(number_of_blocks)
 end
 
 
----@param x number
----@param y number
----@param z number
+---@param x number The EAST/WEST axis (grows from WEST to EAST)
+---@param y number The UP/DOWN axis (grows from DOWN to UP)
+---@param z number The NORTH/SOUTH axis (grows from SOUTH to NORTH)
 ---@param dir Direction
 function TurtleController:MoveToPosition(x, y, z, dir)
     print(("Turtle is moving to (%d, %d, %d)..."):format(x, y, z))
@@ -143,9 +137,16 @@ function TurtleController:MoveToPosition(x, y, z, dir)
     self:DisableMining()
     self.last_positions:Push(Position:Copy(self.position))
 
-    -- Move south once (if possible) to not be blocked by the slice that is currently mined
-    self:TurnToDirection(Direction.SOUTH)
-    self:MoveRelative(1)
+    if self.position.z > 1 then
+        -- Move south once (if we're at the top) to not be blocked by the slice that is currently mined.
+        -- This assumes that we mine the full width back to front.
+        self:TurnToDirection(Direction.SOUTH)
+        self:MoveRelative(1)
+    elseif self.position.z == 0 then
+        -- Move north once (if we're at the bottom) to not be blocked by the chests
+        self:TurnToDirection(Direction.NORTH)
+        self:MoveRelative(1)
+    end
 
     -- EAST/WEST axis (do first to not interfere with chests or unmined walls)
     if self.position.x > x then
@@ -176,8 +177,13 @@ end
 function TurtleController:MoveBack()
     local target_position = self.last_positions:Pop()
 
-    self:MoveToPosition(target_position.x, target_position.y, target_position.z, target_position.dir)
-    self.last_positions:Pop()
+    if target_position == nil then
+        shell.exit()
+    else
+        self:MoveToPosition(target_position.x, target_position.y, target_position.z, target_position.dir)
+        self.last_positions:Pop()
+    end
+
 end
 
 
@@ -228,8 +234,10 @@ function TurtleController:DropInventory()
 end
 
 
-function TurtleController:UnstockIfFull()
-    if self:HasInventorySpace() then
+---@param skip_inventory_check boolean | nil
+function TurtleController:UnstockIfFull(skip_inventory_check)
+    skip_inventory_check = skip_inventory_check or false
+    if not skip_inventory_check and self:HasInventorySpace() then
         return
     end
 
@@ -243,8 +251,10 @@ function TurtleController:UnstockIfFull()
 end
 
 
-function TurtleController:RefuelIfEmpty()
-    if self:HasFuel() then
+---@param skip_fuel_check boolean | nil
+function TurtleController:RefuelIfEmpty(skip_fuel_check)
+    skip_fuel_check = skip_fuel_check or false
+    if not skip_fuel_check and self:HasFuel() then
         return
     end
 
@@ -260,8 +270,13 @@ function TurtleController:RefuelIfEmpty()
 
     -- Include the distance to the last position when refueling
     -- to keep the amount of work done between refuelings constant
+    local target_fuel_level = self.config.refuel_amount
     local last_position = self.last_positions:Peek()
-    local target_fuel_level = self.config.refuel_amount + last_position.x + last_position.y + last_position.z
+    if last_position == nil then
+        shell.exit()
+    else
+        target_fuel_level = target_fuel_level + last_position.x + last_position.y + last_position.z
+    end
 
     -- Refuel until we hit the refuel_amount
     local before_level = turtle.getFuelLevel()