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I have a crystal delivery bot which picks up crystal at the main crystal depo then delivers to all the production bots that need crystal. It's not really a nightmare since you build it on the fly. When the production gets to be too big I just create a second one that copies the behavior and follows the same route.
Static storage - if by that you mean only one item type per storage - it is not that difficult to manage, you can put the stored item as signal on the storage and have the bots look for the signal of the item they need or that they want to deposit using the loop signal instruction in order to find the correct storage. And you could make a behavior for the storage buildings that will assign them the item type dynamically, as needed for instance in response to desired proportions of each item.
The way I see it this game offers many different ways of solving the same problem. You can make a factory with fixed production capacity of each item, carefully calculating ratios and optimising the layout - or you can make a factory that adapts according to what you need to produce. If you need power for a mining team or assault team - do you bring mobile power production? do you ship batteries back and forth? do you make a mobile power pole bridge? do you use a bunch of expensive power transmitters? Do you bring materials to construct temporary power buildings?
You can make the storage signal number of free slots slot by checking how many it can store of an item you never store in the system. A simple storing algorithm would be to first try all the storages that already have the item you want to store, then use one with free space. Or you can have the bot request storage of an item on its signal and have the storages respond on their signal, using some clever coding to tell if they already have some of that item and how much room they have.
"GoTo" is where to grab items. Set a number value for how many tiles to move away after fetching.
"Store" is where to put items. Set a number value for how many tiles to move away after pushing.
"Visual" is what to grab. Set a number for how much to grab, or leave empty to fill inventory.
P1 is how long to wait (in seconds) at the end of a loop. I use this more when I set my mule with the "Deliver" logistic setting to allow it to do chores between mule gigs