Taxi

term.clear()
rednet.open("top")
--these poses are set up as x,y,radius
local waypoints = {
    base = {-50, -926, 200},
    spawn = {227, 90, 150},
    ethans = {170, -90, 60},
    simi = {1000, -270, 60},
    stronghold = {1071, 1400}
}

local args = {...}

local gotoPos = nil
local plusOrMinusDistance = 300
if args[1] == "goto" then
    if tonumber(args[2]) then

        gotoPos = {args[2], args[3]}

    elseif type(args[2]) == "string" then

        if not waypoints[args[2]] then
            error("Their is no saved location with the name ", args[2])
        end
        gotoPos = waypoints[args[2]]
        if waypoints[args[2]][3] then
            plusOrMinusDistance = waypoints[args[2]][3]
        end

    else

        error("invalid second argument!")

    end
else
    error("invalid argument 1!")
end

print("Busy...")
id, message, password = rednet.receive("u2", 3)
if message == nil then
    error("Error! Didn't recieve player pos table after 3 seconds!")
end
local playerPosTable = textutils.unserialize(message)
print(message)
local distFromDestination = math.sqrt(math.pow(playerPosTable[1] - gotoPos[1], 2) + math.pow(playerPosTable[3] - gotoPos[2], 2))
local shipPos = vector.new(playerPosTable[1],0,playerPosTable[3])
local destinationPos = vector.new(gotoPos[1],0,gotoPos[2])
local gotoDirectionVec = (shipPos - destinationPos):normalize()
local playerDirectionVec = vector.new(math.cos(math.rad(playerPosTable[4])), 0, math.sin(math.rad(playerPosTable[4])))
local dotProduct = gotoDirectionVec:dot(playerDirectionVec)

local delayForwardEngineStart = os.clock()
if plusOrMinusDistance < 300 then plusOrMinusDistance = 300 end--clamp
while distFromDestination > plusOrMinusDistance do

    parallel.waitForAny(
        function()
            id, message, password = rednet.receive("u2", 0.1)
            if id then
                playerPosTable = textutils.unserialize(message)
                distFromDestination = math.sqrt(math.pow(playerPosTable[1] - gotoPos[1], 2) + math.pow(playerPosTable[3] - gotoPos[2], 2))
                shipPos = vector.new(playerPosTable[1],0,playerPosTable[3])
                gotoDirectionVec = (shipPos - destinationPos):normalize()
                playerDirectionVec = vector.new(math.cos(math.rad(playerPosTable[4])), 0, math.sin(math.rad(playerPosTable[4])))
                dotProduct = gotoDirectionVec:dot(playerDirectionVec)
                redstone.setOutput("right", false)
                redstone.setOutput("left", false)
                if os.clock() - delayForwardEngineStart > 5 then
                    redstone.setOutput("back", true)
                end
                if dotProduct < 0.05 then

                    local springEnginePower = math.abs(dotProduct) * 8--this num is max turning power. max 0-16
                    redstone.setOutput("left", false)
                    redstone.setAnalogOutput("right", math.floor(springEnginePower))

                elseif dotProduct > -0.05 then

                    local springEnginePower = math.abs(dotProduct) * 8
                    redstone.setOutput("right", false)
                    redstone.setAnalogOutput("left", math.floor(springEnginePower))
                else
                    redstone.setOutput("right", false)
                    redstone.setOutput("left", false)
                end

                print("Distance from destination = ", distFromDestination)
            end
        end,
        function()
            sleep(0.08)
            redstone.setOutput("right", false)
            redstone.setOutput("left", false)
        end
    )






end
redstone.setOutput("back", false)
redstone.setOutput("right", false)
redstone.setOutput("left", false)
print("Destination reached! (plus or minus ",plusOrMinusDistance," blocks xd)")
--[=[]]
print("playerDirectionVec = ", playerDirectionVec)
print("dot product = " ,gotoDirectionVec:dot(playerDirectionVec))

]=]