ew

--setup
local reader = peripheral.find("ship_reader")
local helm = peripheral.find("ship_helm")
function sign(number)
    return number > 0 and 1 or (number == 0 and 0 or -1)
end
function getYaw()
    rot = reader.getRotation(true)
    shipYaw = math.atan2(2*rot.y*rot.w-2*rot.x*rot.z,1-2*rot.y*rot.y-2*rot.z*rot.z )
    return shipYaw
end

local detector = peripheral.find("playerDetector")
helm.move("forward",true)
--loop start
while true do
    --get player position
    local player = detector.getPlayerPos("3F0x")
    --get ship position
    local shipPosition = reader.getWorldspacePosition()
    --get ship rotation
    local shipRot = reader.getRotation()
    --get current yaw direction
    local shipYaw = getYaw()*(180/3.14159)
    if sign(shipYaw) == -1 then
    shipYaw = 360 +  shipYaw
    end
      --get ideal yaw direction
    local  idealYaw =  360
    local idealYawX = 360
    local idealYawz = 360
    if shipPosition.x < player.x then
      idealYawX = 160
     elseif shipPosition.x >  player.x then
         idealYawX =  340
     end
     if shipPosition.z < player.z then
     idealYawZ = 70
     elseif shipPosition.z > player.z then
     idealYawZ = 250
     end
     idealYaw = (idealYawX + idealYawZ) / 2
     if idealYawX == 340 and idealYawZ == 70 then
         idealYaw =  25
     end
     print("ideal: "..idealYaw.. " idealX: "..idealYawX.. "idealz:  ".. idealYawZ )

    local d1 = "left"
    local d2 = "right"

     if  shipYaw   <   idealYaw then
    helm.move(d1,true)
    else
    helm.move(d2  ,true)
    end
    print("Yaw ".. shipYaw )
    -- helm.move("left",true)


end