get

-- Setup wireless modem
local modem = peripheral.wrap("top")  -- Wireless modem attached to 'top'
modem.open(1)  -- Open the modem on channel 1 for communication

-- Function to set the speed for each rotational speed controller
local function setControllerSpeeds(left, right, front, back)
    -- Get connected controllers
    local leftController = peripheral.wrap("left")
    local rightController = peripheral.wrap("right")
    local frontController = peripheral.wrap("front")
    local backController = peripheral.wrap("back")

    -- Set the speeds for each controller
    leftController.setTargetSpeed(left)
    rightController.setTargetSpeed(right)
    frontController.setTargetSpeed(front)
    backController.setTargetSpeed(back)

    -- Print speeds to console
    print(
        "Left: " .. left .. " RPM | Right: " .. right .. " RPM | " ..
        "Front: " .. front .. " RPM | Back: " .. back .. " RPM"
    )
end

-- Main loop to listen for transmitted data
while true do
    -- Listen for data on channel 1
    local event, side, channel, replyChannel, message, distance = os.pullEvent("modem_message")

    if channel == 1 then
        -- Extract the speed data
        local leftSpeed, rightSpeed, frontSpeed, backSpeed = table.unpack(message)

        -- Set the controller speeds based on the received data
        setControllerSpeeds(leftSpeed, rightSpeed, frontSpeed, backSpeed)
    end

    -- Small delay to prevent excessive looping
    sleep(0.1)
end