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I think the best thing to do by far is have every robot do ONLY one thing and be done with it. If possible without traveling much too.
So the way I do it, is that inside the "make fire" function, it also drops it to storage, therefore it can then go back to idle. At the start of each change I have a recharge check that prioritizes "eco" buff. Therefore running around isn't that much of a pain in their energy.
My tree robot is build like this:
Harvest wood from tree, on-error -> craft water -> deliver water to tree, on-error -> deliver water to storage.
This way one robot can handle the entire wood production chain, and even store some excess water in storage.
"Harvest wood from tree" requires coordinates. Unless you mean "smart find and pick" and use "only source"? But when using that, you also have to store the variable of where it found the item, but still, I think it becomes more complicated the further I'm trying to think of it.
Anyway, I have a bot going "find wood -> on error -> wait" really, and that bot just harvests wood. Then I have others that will just go find water, wait, and recheck. Each bot of those will just check a line of trees (I have 10 trees total) around the sulfur mine (because that keeps things perma-heated around it, and wood is required to use in furnaces).
To be honest, later on, you get steam batteries that are far more efficient although I'm still using wood. I'm waiting for an update perhaps to see if we can do anything with the volcano and/or get some sort of renewable source.