View difference between Paste ID: Y4ggWQD3 and iseJrakL

-local modules = peripheral.wrap "right"
+local modem = peripheral.find "modem"
-local other = peripheral.wrap "left"
+local websocket = http.websocket "ws://osmarks.ml:8774"
 
-for k, v in pairs(other) do
+local geofenceChannel = 40560
-    modules[k] = v
+modem.open(geofenceChannel)
 
 function loadPastebinAPI(paste, name)
-os.setComputerLabel("AB" .. tostring(os.getComputerID()))
+	shell.run("pastebin get " .. paste .. " " .. name)
 	os.loadAPI(name)
-function distance(e)
+
-    return math.sqrt(e.x ^ 2 + e.y ^ 2 + e.z ^ 2)
+
 loadPastebinAPI("4nRg9CHU", "json")
 
-function yawPitch(e)
+local designation = tostring(os.getComputerID())
-    local x, y, z = e.x, e.y, e.z
+
-    local yaw = -math.atan2(y, math.sqrt(x * x + z * z))
+os.setComputerLabel(designation)
-    local pitch = -math.atan2(-x, z)
+
-
+-- Closest waypoint currently
-    return math.deg(yaw), math.deg(pitch)
+local closest = {"None", 1000}
 -- Threshold for going away
 local threshold = 20
 
-    for _ = 1, i do
+-- Report to control system
-        f()
+function report(data)
-    end
+	data["id"] = os.getComputerID()
 	local enc = json.encode(data)
 	websocket.send(enc)
 end
-    if i < 0 then
+
-        repeatF(math.abs(i), f2)
+report({type = "connect", ["node-type"] = "turtle"})
-    else
+
-        repeatF(i, f1)
+function distance(x1, x2, y1, y2, z1, z2)
-    end
+	local dx, dy, dz = x1 - x2, y1 - y2, z1 - z2
 	return math.sqrt(dx ^ 2 + dy ^ 2 + dz ^ 2)
 end
 
-    pick(x, turtle.forward, turtle.back)
+-- Repeats a turtle movement function X times.
-    pick(y, turtle.up, turtle.down)
+-- Will turn if a wall is hit.
-
+
-    if z < 0 then
+	for _ = 1, i do
-        turtle.turnRight()
+		if not f() then
-    elseif z > 0 then
+			turtle.turnLeft()
-        turtle.turnLeft()
+		end
-    end
+	end
-
+
-    repeatF(math.abs(z), turtle.forward)
+
 -- If number of times is less than zero, perform a different function
 function pick(i, f1, f2)
-move(5, 0, 0)
+	if i < 0 then
 		repeatF(math.abs(i), f2)
-local power = 1
+	else
 		repeatF(i, f1)
-function shootStuff()
+	end
-    while true do
+
-        local es = modules.sense()
+
 function move(x, y, z)
-        if #es == 0 then
+	pick(x, turtle.forward, turtle.back)
-            power = 0.5
+	pick(y, turtle.up, turtle.down)
-        end
+
-
+	if z < 0 then
-        for _, e in pairs(es) do
+		turtle.turnRight()
-            local y, p = yawPitch(e)
+	elseif z > 0 then
-            if distance(e) < 5 and e.displayName ~= "gollark" then
+		turtle.turnLeft()
-                print(e.displayName)
+	end
-                pcall(modules.fire, y, p, power)
+
-                power = math.min(power + 0.5, 4)
+	repeatF(math.abs(z), turtle.forward)
-            end
+
-        end
+	if closest[2] < threshold then
-
+		move(-x, -y, -z)
-        sleep(0.8)
+	end
-    end
+
 
 -- Check whether kill code enabled and if so shutdown
-function moveAround()
+
-    while true do
+	while true do
-        move(math.random(-15, 15), math.random(-2, 2), math.random(-15, 15))
+		http.request "https://osmarks.ml/killcode"
-        sleep(math.random(0, 20))
+		_, _, h = os.pullEvent "http_success"
-    end
+
 		if h then
 			local t = h.readAll()
 			if t == "KILLCODE" then
-    while true do
+				os.shutdown()
-        http.request "https://osmarks.ml/killcode"
+			elseif t == "REBOOT" then
-        _, _, h = os.pullEvent "http_success"
+				sleep(5)
-        if h and h.readAll and h.readAll() == "KILLCODE" then os.shutdown() end
+				os.reboot()
-        sleep(3)
+			end
-    end
+		end
 		sleep(20)
 	end
-parallel.waitForAll(moveAround, shootStuff, killCode)
+
 
 -- Report back position
 function reportPos()
 	while true do
 		local x, y, z = gps.locate()
 		report({type = "position", position = {x = x, y = y, z = z}})
 		sleep(15)
 	end
 end
 
 -- Upon a modem message being transmitted (presumably on waypoint channels),
 -- log its identifier + distance, and attempt to find nearest waypoint
 function updateWaypoints()
 	local waypoints = {}
 
 	while true do
 		local _, _, chan, _, msg, distance = os.pullEvent "modem_message"
 
 		if chan == geofenceChannel then
 			waypoints[msg] = distance
 
 			closest = {msg, distance}
 
 			for identifier, d in pairs(waypoints) do
 				if d < closest[2] then closest = {identifier, d} end
 			end
 		end
 	end
 end
 
 -- Listen to websocketed commands
 function runCommands()
 	while true do
 		local msg = websocket.receive()
 		local data = json.decode(msg)
 
 		print(textutils.serialise(data))
 
 		if data and data.command then
 			local cmd = data.command
 
 			if cmd == "reboot" then
 				os.reboot()
 			end
 		end
 	end
 end
 
 local run = {reportPos, killCode, updateWaypoints, runCommands}
 
 -- If it has ended, it's not as if it's NOT going to be with an error.
 local _, err = pcall(parallel.waitForAll, unpack(run))
 
 report({type = "report-error", error = err})
 
 sleep(10)
 os.reboot()