[OpenComputers] cart

local position = 'back'
local r = require('robot')
local component = require('component')
local event = require("event")

local function goF() -- курсовой робот
  r.swing()
  r.placeDown()
  r.forward()
  r.placeDown()
  r.swingUp()
end

local function goB() -- кормовой, с поршнем
  component.piston.push()
  r.forward()
  r.swingDown()
end

local function inverter(side, x) -- инвертер функций
  if x == true then
    if side == 'left' then
      r.turnLeft()
    elseif side == 'right' then
      r.turnRight()
    end
  elseif x == false then
    if side == 'left' then
      r.turnRight()
    elseif side == 'right' then
      r.turnLeft()
    end
  end
end

local function turnF(side) -- поворотник курсового
  r.swingUp()
  inverter(side, true)
  r.swing()
  os.sleep(0.4)
  r.forward()
  inverter(side, true)
  r.swing()
  os.sleep(0.4)
  r.forward()
  inverter(side, false)
  r.swingUp()
end

local function turnB(side) -- поворотник кормового
  r.swing()
  inverter(side, false)
  for i = 1, 2 do
    r.swing()
    os.sleep(0.4)
    r.forward()
  end
  inverter(side, true)
  for j = 1, 2 do
    r.swing()
    os.sleep(0.4)
    r.forward()
  end
  inverter(side, true)
  r.place()
end

tArgs = {...}
if position == 'front' then
  if tArgs[1] == 'go' then
    for k = 1, tArgs[2] do
      goF()
      component.modem.broadcast(100, 'go')
    end
  elseif tArgs[1] == 'turn' then
    turnF(tArgs[2])
    component.modem.broadcast(100, tArgs[2])
  end
elseif position == 'back' then
  r.place()
  component.modem.open(100)
  while true do
    local _, _, _, _, _, msg = event.pull("modem_message")
    if msg == 'go' then
      goB()
    else
      turnB(msg)
    end
  end
end

--usage: <cart go number> <cart turn left> <cart turn right>