View difference between Paste ID: aBQSx6hn and mXZrEqUP

 if warpdriveCommons then os.unloadAPI("warpdriveCommons") end
 if not os.loadAPI("warpdrive/warpdriveCommons") then error("missing warpdriveCommons") end
 local w = warpdriveCommons.w
 
 local data
 
 ----------- Ship support
 
 local miningLaser
 local laserCamera
 local speaker
 local laserGuideEnabled = true
 local useMiningLaserOffset = true
 local forwardBackMov =0
 local leftRightMov = 0
 local ship
 local ship_front = 0
 local ship_right = 0
 local ship_up = 0
 local ship_back = 0
 local ship_left = 0
 local ship_down = 0
 local ship_isInHyper = false
 local ship_x, ship_y, ship_z = 0, 0, 0
 local ship_xTarget, ship_yTarget, ship_zTarget = 0, 0, 0
 local ship_actualDistance = 0
 local ship_energyRequired = 0
 local ship_movement = { 0, 0, 0 }
 local ship_rotationSteps = 0
 local ship_indexPlayer = 0
 local ship_arrayPlayers = { }
 local ship_indexTarget = 0
 
 local lx = 0
 local ly = 0
 local lz = 0
 
 function ship_read(parData)
   data = parData
 end
 
 function ship_name(parName)
   if ship == nil or ship.isInterfaced() == nil then
     return ''
   end
   return ship.name(parName)
 end
 
 function ship_boot()
   if ship == nil or ship.isInterfaced() == nil then
     return
   end
 
   w.setColorNormal()
   w.writeLn("Booting Ship")
 
   w.write("- acquiring parameters: ")
   ship_front, ship_right, ship_up = ship.dim_positive()
   ship_back, ship_left, ship_down = ship.dim_negative()
   ship_isInHyper = ship.isInHyperspace()
   ship_movement = { ship.movement() }
   ship_rotationSteps = ship.rotationSteps()
   w.setColorSuccess()
   w.writeLn("ok")
 
   w.setColorNormal()
   w.write("- checking assembly   : ")
   local timeout = 10
   local isValid, message
   repeat
     isValid, message = ship.getAssemblyStatus()
     w.sleep(0.05)
     timeout = timeout - 1
   until isValid == true or timeout < 0
   if timeout < 0 then
     w.setColorWarning()
     w.writeLn("failed")
     w.writeLn(message)
     w.setColorNormal()
     w.sleep(6)
     -- don't reboot as the player might need to set new dimensions to fix it
   else
     w.setColorSuccess()
     w.writeLn("passed")
   end
   w.sleep(0.2)
 
   w.setColorNormal()
   w.write("- celestial position  : ")
   timeout = 10
   local pos
   repeat
     pos = ship.getLocalPosition()
     w.sleep(0.05)
     timeout = timeout - 1
   until pos ~= nil or timeout < 0
   if timeout < 0 then
     w.setColorWarning()
     w.writeLn("failed")
     w.writeLn("")
     w.writeLn("Something is wrong here, rebooting...")
     w.setColorNormal()
     w.sleep(2)
     w.reboot()
   else
     w.setColorSuccess()
     w.writeLn("triangulated")
   end
   ship_updateMovementStats()
   w.sleep(0.2)
 
   w.setColorNormal()
   w.write("- integrity check     : ")
   timeout = 10
   local shipSize
   repeat
     shipSize = ship.getShipSize()
     w.sleep(0.05)
     timeout = timeout - 1
   until (shipSize ~= nil and shipSize ~= 0) or timeout < 0
   if timeout < 0 then
     w.setColorWarning()
     w.writeLn("ongoing...")
     w.setColorNormal()
     w.sleep(2)
   else
     w.setColorSuccess()
     w.writeLn("passed")
   end
 
   ship.enable(true)
   ship.command("IDLE", true)
   w.sleep(0.3)
 end
 
 function ship_writeMovement(prefix)
   local message = prefix
   local count = 0
   if ship_movement[1] > 0 then
     message = message .. w.format_integer(ship_movement[1]) .. " front"
     count = count + 1
   elseif ship_movement[1] < 0 then
     message = message .. w.format_integer(- ship_movement[1]) .. " back"
     count = count + 1
   end
   if ship_movement[2] > 0 then
     if count > 0 then message = message .. ", " end
     message = message .. w.format_integer(ship_movement[2]) .. " up"
     count = count + 1
   elseif ship_movement[2] < 0 then
     if count > 0 then message = message .. ", " end
     message = message .. w.format_integer(- ship_movement[2]) .. " down"
     count = count + 1
   end
   if ship_movement[3] > 0 then
     if count > 0 then message = message .. ", " end
     message = message .. w.format_integer(ship_movement[3]) .. " right"
     count = count + 1
   elseif ship_movement[3] < 0 then
     if count > 0 then message = message .. ", " end
     message = message .. w.format_integer(- ship_movement[3]) .. " left"
     count = count + 1
   end
 
   if ship_rotationSteps == 1 then
     if count > 0 then message = message .. ", " end
     message = message .. "Turn right"
     count = count + 1
   elseif ship_rotationSteps == 2 then
     if count > 0 then message = message .. ", " end
     message = message .. "Turn back"
     count = count + 1
   elseif ship_rotationSteps == 3 then
     if count > 0 then message = message .. ", " end
     message = message .. "Turn left"
     count = count + 1
   end
 
   if count == 0 then
     message = message .. "(none)"
   end
   w.writeLn(message)
 end
 
 function ship_writeRotation()
   if ship_rotationSteps == 0 then
     w.writeLn(" Rotation         = Front    ")
   elseif ship_rotationSteps == 1 then
     w.writeLn(" Rotation         = Right +90")
   elseif ship_rotationSteps == 2 then
     w.writeLn(" Rotation         = Back 180 ")
   elseif ship_rotationSteps == 3 then
     w.writeLn(" Rotation         = Left -90 ")
   end
 end
 
 function ship_updateMovementStats()
   -- get current position
   ship_x, ship_y, ship_z = ship.getLocalPosition()
   if ship_x == nil then
     ship_x, ship_y, ship_z = 0, 0, 0
   end
 
   -- compute movement
   local dx, dy, dz = ship.getOrientation()
   if dx == nil then
     dx, dy, dz = 0, 0, 0
   end
   local worldMovement = { x = 0, y = 0, z = 0 }
   worldMovement.x = dx * ship_movement[1] - dz * ship_movement[3]
   worldMovement.y = ship_movement[2]
   worldMovement.z = dz * ship_movement[1] + dx * ship_movement[3]
   ship_actualDistance = math.ceil(math.sqrt(worldMovement.x * worldMovement.x + worldMovement.y * worldMovement.y + worldMovement.z * worldMovement.z))
   ship_xTarget = ship_x + worldMovement.x
   ship_yTarget = ship_y + worldMovement.y
   ship_zTarget = ship_z + worldMovement.z
 
   -- update energy requirement
   local success, result = ship.getEnergyRequired()
   if success then
     ship_energyRequired = result
   else
     w.status_showWarning(result)
   end
 end
 
 function ship_warp()
   -- rs.setOutput(alarm_side, true)
   if w.input_readConfirmation("Engage jump drive? (Y/n)") then
     -- rs.setOutput(alarm_side, false)
     ship.command("MANUAL", false)
     ship.movement(ship_movement[1], ship_movement[2], ship_movement[3])
     ship.rotationSteps(ship_rotationSteps)
     ship.command("MANUAL", true)
     -- ship = nil
   end
   -- rs.setOutput(alarm_side, false)
 end
 
 function ship_page_setMovement()
   -- force manual jump so we get proper max jump distance
   ship.command("MANUAL", false)
 
   local success, maxJumpDistance = ship.getMaxJumpDistance()
   if success ~= true then
     w.status_showWarning("" .. maxJumpDistance)
     return
   end
 
   w.page_begin("<==== Set ship movement ====>")
   w.setCursorPos(1, 3)
   w.setColorNormal()
   ship_writeMovement("Current movement is ")
   w.setCursorPos(1, 5)
 
   ship_movement[1] = ship_page_setDistanceAxis(4, "Forward/back", "Forward", "Backward", ship_movement[1], math.abs(ship_front + ship_back  + 1), maxJumpDistance)
   ship_movement[2] = ship_page_setDistanceAxis(6, "Up/down"     , "Up"     , "Down"    , ship_movement[2], math.abs(ship_up    + ship_down  + 1), maxJumpDistance)
   ship_movement[3] = ship_page_setDistanceAxis(8, "Right/left"  , "Right"  , "Left"    , ship_movement[3], math.abs(ship_left  + ship_right + 1), maxJumpDistance)
   ship_movement = { ship.movement(ship_movement[1], ship_movement[2], ship_movement[3]) }
   ship_updateMovementStats()
 end
 
 function ship_page_setDistanceAxis(line, axis, positive, negative, userEntry, shipLength, maxJumpDistance)
   local maximumDistance = math.floor(shipLength + maxJumpDistance)
   w.setCursorPos(1, line + 2)
   w.setColorHelp()
   w.writeFullLine(" Enter between " .. math.floor( shipLength + 1) .. " and " ..  maximumDistance .. " to move " ..  positive .. ".")
   w.writeFullLine(" Enter 0 to keep position on this axis.")
   w.writeFullLine(" Enter between " .. -maximumDistance .. " and " .. math.floor(-shipLength - 1) .. " to move " ..  negative .. ".")
 
   repeat
     w.setCursorPos(1, line)
     w.setColorNormal()
     w.write(axis .. " movement: ")
     userEntry = w.input_readInteger(userEntry)
     if userEntry ~= 0 and (math.abs(userEntry) <= shipLength or math.abs(userEntry) > maximumDistance) then
       w.status_showWarning("Wrong distance. Try again.")
     end
   until userEntry == 0 or (math.abs(userEntry) > shipLength and math.abs(userEntry) <= maximumDistance)
   w.setCursorPos(1, line + 2)
   w.clearLine()
   w.setCursorPos(1, line + 3)
   w.clearLine()
   w.setCursorPos(1, line + 4)
   w.clearLine()
 
   return userEntry
 end
 
 function ship_page_setRotation()
   local inputAbort = false
   w.page_begin("<==== Set ship rotation ====>")
   w.setCursorPos(1, 8)
   w.setColorHelp()
   w.writeFullLine(" Select ship rotation (Up, Down, Left, Right).")
   w.writeFullLine(" Select Front to keep current orientation.")
   w.writeFullLine(" Press Enter to save your selection.")
   repeat
     w.setCursorPos(1, 3)
     w.setColorNormal()
     ship_writeRotation()
     local params = { os.pullEventRaw() }
     local eventName = params[1]
     local address = params[2]
     if address == nil then address = "none" end
     if eventName == "key" then
       local keycode = params[2]
       if keycode == 200 then
         ship_rotationSteps = 0
       elseif keycode == 203 then
         ship_rotationSteps = 3
       elseif keycode == 205 then
         ship_rotationSteps = 1
       elseif keycode == 208 then
         ship_rotationSteps = 2
       elseif keycode == 28 then
         inputAbort = true
       else
         w.status_showWarning("Key " .. keycode .. " is invalid")
       end
     elseif eventName == "terminate" then
       inputAbort = true
     elseif not w.event_handler(eventName, params[2]) then
       w.status_showWarning("Event '" .. eventName .. "', " .. address .. " is unsupported")
     end
   until inputAbort
   ship_rotationSteps = ship.rotationSteps(ship_rotationSteps)
 end
 
 function ship_page_setDimensions()
   w.page_begin("<==== Set ship dimensions ====>")
   w.setCursorPos(1, 14)
   w.setColorHelp()
   w.writeFullLine(" Enter ship size in blocks (0-9).")
   w.writeFullLine(" First block next to Ship counts as 1.")
   w.writeFullLine(" ")
   w.writeFullLine(" Press Enter to save your selection.")
 
   w.setCursorPos(1, 3)
   w.setColorNormal()
   w.write(" Front (".. w.format_integer(ship_front) ..") : ")
   ship_front = w.input_readInteger(ship_front)
   w.write(" Right (".. w.format_integer(ship_right) ..") : ")
   ship_right = w.input_readInteger(ship_right)
   w.write(" Up    (".. w.format_integer(ship_up) ..") : ")
   ship_up = w.input_readInteger(ship_up)
   w.write(" Back  (".. w.format_integer(ship_back) ..") : ")
   ship_back = w.input_readInteger(ship_back)
   w.write(" Left  (".. w.format_integer(ship_left) ..") : ")
   ship_left = w.input_readInteger(ship_left)
   w.write(" Down  (".. w.format_integer(ship_down) ..") : ")
   ship_down = w.input_readInteger(ship_down)
   w.write("Setting dimensions...")
   ship_front, ship_right, ship_up = ship.dim_positive(ship_front, ship_right, ship_up)
   ship_back, ship_left, ship_down = ship.dim_negative(ship_back, ship_left, ship_down)
 end
 
 function ship_page_summon() -- no longer used
   w.page_begin("<==== Summon players ====>")
   local stringPlayers = ship.getAttachedPlayers()
   if stringPlayers == "" then
     w.writeLn("~ no players registered ~")
     w.writeLn("")
     w.setColorHelp()
     w.writeFullLine(" Press enter to exit.")
     w.setColorNormal()
     w.input_readInteger("")
     return
   end
   local arrayPlayers = w.data_splitString(stringPlayers, ",")
   for i = 1, #arrayPlayers do
     w.writeLn(i .. ". " .. arrayPlayers[i])
   end
   w.setColorHelp()
   w.writeFullLine(" Enter player number")
   w.writeFullLine(" or press enter to summon everyone.")
   w.setColorNormal()
 
   w.write(":")
   ship.command("SUMMON", false)
   local input = w.input_readInteger("")
   if input == "" then
     ship.targetName("")
   else
     input = tonumber(input)
     ship.targetName(arrayPlayers[input - 1])
   end
   ship.command("SUMMON", true)
 end
 
 function ship_page_jumpToGate()
   w.page_begin("<==== Jump through Jumpgate ====>")
   w.writeLn("")
   w.writeLn("Your ship should be already inside a jumpgate")
 
   w.setCursorPos(1, 16)
   w.setColorHelp()
   w.writeFullLine(" Enter target jumpgate name (a-z, 0-9).")
   w.writeFullLine(" Press enter to save jumpgate name.")
 
   w.setCursorPos(1, 5)
   w.setColorNormal()
   w.write("Target jumpgate name: ")
   local targetName = w.input_readText("")
   -- rs.setOutput(alarm_side, true)
   if w.input_readConfirmation("Engage gate jumping? (Y/n)") then
     -- rs.setOutput(alarm_side, false)
     ship.command("GATE", false)
     ship.targetName(targetName)
     ship.command("GATE", true)
     -- ship = nil
   end
   -- rs.setOutput(alarm_side, false)
 end
 
 function ship_page_controls()
   w.page_begin(w.data_getName() .. " - Ship controls")
   if ship == nil or ship.isInterfaced() == nil then
     w.status_showWarning("No ship controller detected")
   else
     local isValid, message = ship.getAssemblyStatus()
     if isValid ~= true then
       w.status_showWarning(message)
     else
       local isEnabled = ship.enable()
       if not isEnabled then
         ship.command("MANUAL", false)
         ship_updateMovementStats()
       end
     end
 
     w.setCursorPos(1, 2)
     w.writeLn("Ship:")
     w.writeLn(" Current position = " .. w.format_integer(ship_x) .. ", " .. w.format_integer(ship_y) .. ", " .. w.format_integer(ship_z))
     local energyStored, energyMax, energyUnits = ship.getEnergyStatus()
     if energyStored == nil then energyStored = 0 end
     if energyMax == nil or energyMax == 0 then energyMax = 1 end
     w.writeLn(" Energy           = " .. math.floor(energyStored / energyMax * 100) .. " % (" .. w.format_integer(energyStored) .. " " .. energyUnits .. ")")
 
     w.writeLn("")
     w.writeLn("Dimensions:")
     w.writeLn(" Front, Right, Up = " .. w.format_integer(ship_front) .. ", " .. w.format_integer(ship_right) .. ", " .. w.format_integer(ship_up) .. " blocks")
     w.writeLn(" Back, Left, Down = " .. w.format_integer(ship_back) .. ", " .. w.format_integer(ship_left) .. ", " .. w.format_integer(ship_down) .. " blocks")
     local shipMass, shipVolume = ship.getShipSize()
     if shipMass == nil then
       shipMass = 0
       shipVolume = 0
     end
     w.write(" Mass, Volume     = ")
     if shipMass == 0 then
       w.write("?")
     else
       w.write(w.format_integer(shipMass))
     end
     w.write(" tons, ")
     if shipVolume == 0 then
       w.write("?")
     else
       w.write(w.format_integer(shipVolume))
     end
     w.writeLn(" blocks")
 
     if isValid == true then
       w.writeLn("")
       w.writeLn("Warp data:")
       ship_writeMovement(" Movement         = ")
       w.writeLn(" Distance         = " .. w.format_integer(ship_actualDistance) .. " m (" .. w.format_integer(ship_energyRequired) .. " " .. energyUnits .. ", " .. math.floor(energyStored / ship_energyRequired) .. " jumps)")
       w.writeLn(" Target position  = " .. w.format_integer(ship_xTarget) .. ", " .. w.format_integer(ship_yTarget) .. ", " .. w.format_integer(ship_zTarget))
     end
   end
 
   w.setCursorPos(1, 16)
   w.setColorControl()
   w.writeFullLine(" set ship Name (N), dImensions (I), Movement (M)")
   if ship_isInHyper then
     w.writeFullLine(" Jump to move ship (M/J), exit Hyperspace (H)")
   else
     w.writeFullLine(" Jump to move ship (M/J), enter Hyperspace (H)")
   end
 end
 
 function ship_key_controls(character, keycode)
   if character == 'm' or character == 'M' then
     ship_page_setMovement()
     ship_page_setRotation()
     ship_warp()
     return true
   elseif character == 'i' or character == 'I' then
     ship_page_setDimensions()
     return true
   elseif character == 'j' or character == 'J' then
     ship_warp()
     return true
   elseif character == 'h' or character == 'H' then
     -- rs.setOutput(alarm_side, true)
     local isConfirmed
     if ship_isInHyper then
       isConfirmed = w.input_readConfirmation("Disengage hyperdrive? (Y/n)")
     else
       isConfirmed = w.input_readConfirmation("Engage hyperdrive? (Y/n)")
     end
     if isConfirmed then
       -- rs.setOutput(alarm_side, false)
       ship.command("HYPERDRIVE", true)
       ship_updateMovementStats()
       -- ship = nil
     end
     -- rs.setOutput(alarm_side, false)
     return true
   elseif character == 'n' or character == 'N' then
     w.data_setName()
     return true
   end
   return false
 end
 
 function ship_writeArray(arrayValues, indexSelected)
   if indexSelected then
     indexSelected = (indexSelected + #arrayValues) % #arrayValues
   end
 
   local indexSplit = math.ceil(#arrayValues / 2)
   for i = 1, indexSplit do
     if indexSelected and i == indexSelected + 1 then
       w.setColorSelected()
       w.write(">" .. string.sub(arrayValues[i] .. "                        ", 1, 24))
       w.setColorNormal()
     else
       w.write(" " .. string.sub(arrayValues[i] .. "                        ", 1, 24))
     end
     if arrayValues[i + indexSplit] ~= nil then
       if indexSelected and i + indexSplit == indexSelected + 1 then
         w.setColorSelected()
         w.writeLn(">" .. string.sub(arrayValues[i + indexSplit] .. "                        ", 1, 24))
         w.setColorNormal()
       else
         w.writeLn(" " .. arrayValues[i + indexSplit])
       end
     else
       w.writeLn("")
     end
   end
   return indexSelected
 end
 
 function ship_page_crew()
   w.page_begin(w.data_getName() .. " - Ship crew")
   if ship == nil or ship.isInterfaced() == nil then
     w.status_showWarning("No ship controller detected")
   else
     local isValid, message = ship.getAssemblyStatus()
     if isValid ~= true then
       w.status_showWarning(message)
     else
       w.writeLn("Attached players:")
       -- local stringPlayers, _ = ship.getAttachedPlayers()
       if stringPlayers == nil or stringPlayers == "" then
         stringPlayers = "~ no registered player ~"
       end
       ship_arrayPlayers = w.data_splitString(stringPlayers, ",")
       ship_indexPlayer = ship_writeArray(ship_arrayPlayers, ship_indexPlayer)
     end
   end
 
   w.setCursorPos(1, 16)
   w.setColorControl()
   w.writeFullLine(" Summon all crew (S)")
   w.writeFullLine(" select crew (Up, Down), summon slctd crew (enter)")
 end
 
 function ship_key_crew(character, keycode)
   if character == 's' or character == 'S' then -- S
     ship.command("SUMMON", false)
     ship.targetName("")
     ship.command("SUMMON", true)
     return true
   elseif keycode == 28 then -- Enter
     local namePlayer = ship_arrayPlayers[ship_indexPlayer + 1]
     ship.command("SUMMON", false)
     ship.targetName(namePlayer)
     ship.command("SUMMON", true)
     w.status_showSuccess("Engaging teleportation for " .. namePlayer .. "...")
     return true
   elseif keycode == 200 or keycode == 203 or character == '-' then -- Up or Left or -
     ship_indexPlayer = ship_indexPlayer - 1
     return true
   elseif keycode == 208 or keycode == 205 or character == '+' then -- Down or Right or +
     ship_indexPlayer = ship_indexPlayer + 1
     return true
   end
   return false
 end
 
 function ship_page_navigation()
   w.page_begin(w.data_getName() .. " - Ship navigation")
   if ship == nil or ship.isInterfaced() == nil then
     w.status_showWarning("No ship controller detected")
   else
     local isValid, message = ship.getAssemblyStatus()
     if isValid ~= true then
       w.status_showWarning(message)
     else
       local locationCurrent = "somewhere..."  -- @TODO ship.getLocation()
       w.writeLn("Current ship location        : " .. locationCurrent)
       w.writeLn("Jumpgates or beacons in range:")
       local stringTargets, _ = "not implemented", nil -- ship.getTargets()
       if stringTargets == nil or stringTargets == "" then
         stringTargets = "~ no beacon nor jumpgate in range ~"
       end
       local arrayTargets = w.data_splitString(stringTargets, ",")
       ship_indexTarget = ship_writeArray(arrayTargets, ship_indexTarget)
     end
   end
 
   w.setCursorPos(1, 16)
   w.setColorControl()
   w.writeFullLine(" select target (Up, Down), register target (enter)")
   w.writeFullLine(" jump through Gate (G)")
 end
 
 function ship_key_navigation(character, keycode)
   if keycode == 28 then -- Enter
 --    local success, xxx = ship.xxx(ship_indexTarget)
 --    if success then
 --      w.status_showSuccess("Engaging jumpgate jump to " .. xxx .. "...")
 --    else
 --      w.status_showWarning("Failed to summon crew member")
 --    end
     return true
 --  elseif character == 'b' or character == 'B' then -- B
 --    ship_page_jumpToBeacon()
 --    return true
   elseif character == 'g' or character == 'G' then -- G
     ship_page_jumpToGate()
     return true
   elseif keycode == 200 or keycode == 203 or character == '-' then -- Up or Left or -
     ship_indexTarget = ship_indexTarget - 1
     return true
   elseif keycode == 208 or keycode == 205 or character == '+' then -- Down or Right or +
     ship_indexTarget = ship_indexTarget + 1
     return true
   end
   return false
 end
 
 function ship_register()
   w.device_register("warpdriveShipController",
       function(deviceType, address, wrap) ship = wrap end,
       function() end)
   w.device_register("warpdriveShipCore",
       function(deviceType, address, wrap) ship = wrap end,
       function() end)
   w.device_register("warpdriveMiningLaser", function(deviceType, address, wrap) miningLaser = wrap end, function() end)
   w.device_register("warpdriveLaserCamera", function(deviceType, address, wrap) laserCamera = wrap end, function() end)
   w.device_register("warpdriveSpeaker", function(deviceType, address, wrap) speaker = wrap end, function() end)
   w.event_register("shipCoreCooldownDone"  , function() w.status_showWarning("Ship core cooldown done")   return false end )
   w.event_register("laserScanning", function() laser_sendEvent() return false end )
   w.data_register("ship", ship_read, nil, ship_name)
 end
 
 ----------- connections status
 
 function connections_page(isBooting)
   w.page_begin(w.data_getName() .. " - Connections")
 
   w.writeLn("")
 
   local monitors = w.device_getMonitors()
   if #monitors == 0 then
     w.setColorDisabled()
     w.writeLn("No Monitor detected")
   elseif #monitors == 1 then
     w.setColorSuccess()
     w.writeLn("1 monitor detected")
   else
     w.setColorSuccess()
     w.writeLn(#monitors .. " Monitors detected")
   end
 
   if ship == nil or ship.isInterfaced() == nil then
     w.setColorDisabled()
     w.writeLn("No ship controller detected")
   else
     w.setColorSuccess()
     w.writeLn("Ship controller detected")
     if isBooting then
       ship_boot()
     end
   end
 
   w.writeLn("")
   w.setColorNormal()
   w.writeLn("This is a keyboard controlled user interface.")
   w.write("Key controls are written like so: ")
   w.setColorControl()
   w.write("Action (key)")
   w.setColorNormal()
   w.writeLn(".")
   w.write("For example, typing ")
   w.setColorControl()
   w.write(" 1 ")
   w.setColorNormal()
   w.writeLn(" will open Ship controls.")
 end
 
 function laser_guide_page()
   w.page_begin(w.data_getName() .. " - Laser Guidance")
   if ship == nil or ship.isInterfaced() == nil then
     w.status_showWarning("No ship controller detected")
   elseif laserCamera == nil or laserCamera.isInterfaced() == nil then
 	    w.status_showWarning("No laser camera detected")
   elseif laserCamera.laserMediumCount() < 1 then
 		w.status_showWarning("No laser mediums detected")
   else
 	if (miningLaser == nil or miningLaser.isInterfaced() == nil) then
 		useMiningLaserOffset = false
 	end
 	laserGuideOn = "true"
 	if (laserGuideEnabled) then
 		laserGuideOn = "true"
 	else
 		laserGuideOn = "false"
 	end
  local mx, my, mz = miningLaser.getLocalPosition()
     w.writeLn("Ship Core Must Face North or South To Function!")
     w.writeLn("Laser Guidance Enabled = " .. laserGuideOn)
-    w.writeLn("Vertical Mining Offset = " .. "down:" .. my-ly)
+
     w.writeLn("Target Position = " .. " x:" .. lx .. " z:" .. lz)
     w.writeLn("Vertical Mining Offset = " .. "down:" .. my-ly-1)
 
 	local forwardBack = " Forward, "
 	local leftRight = " Right"
 	if forwardBackMov < 0 then
 		forwardBack = " Back, "
 	end
 	if leftRightMov < 0 then
 		leftRight = " Left"
 	end
 	w.writeLn("Ship Movement = " .. math.abs(forwardBackMov) .. forwardBack .. math.abs(leftRightMov) .. leftRight)
   end
 
   w.setCursorPos(1, 16)
   w.setColorControl()
   w.writeFullLine("Toggle Laser Guidance (t), Clear Data (c)")
   w.writeFullLine("Mining Laser Offset (g)")
 end
 function laser_key(character, keycode)
   if character == 't' or character == 'T' then
 	if laserGuideEnabled then
 		laserGuideEnabled = false
 	else
 		laserGuideEnabled = true
 	end
 	return true
   elseif character == 'c' or character == 'C' then
 	lx = 0
 	ly = 0
 	lz = 0
 	leftRightMov = 0
 	forwardBackMov = 0
 	return true
   elseif character == 'g' or character == 'G' then
 	if miningLaser == nil or miningLaser.isInterfaced() == nil then
 		useMiningLaserOffset = false
 		w.status_showWarning("No mining laser detected!")
 	else
 		if useMiningLaserOffset then
 			useMiningLaserOffset = false
 		else
 			useMiningLaserOffset = true
 		end
 	end
 	return true
   end
 end
 function laser_sendEvent()
 	if (laserCamera ~= nil and laserCamera.isInterfaced()) then
 		if (miningLaser == nil or miningLaser.isInterfaced() == nil) then
 			useMiningLaserOffset = false
 		end
 		local resType, x, y, z, id, meta, res = laserCamera.getScanResult()
-		lz = z
+
 		ly = y
 		lz = z
-		if success ~= true then
+
 		local success, maxJumpDistance = ship.getMaxJumpDistance()
         local mx, my, mz = miningLaser.getLocalPosition()
         if success == true then
         	speaker.speak("Vertical Mining Offset = " .. "down:" .. my-ly-1)
 		elseif success ~= true then
 			w.status_showWarning("" .. maxJumpDistance)
 			return
 		end
 		local rx, ry, rz = ship.getOrientation()
 		minForwardBack = math.abs(ship_front+ship_back+1)
 		minLeftRight = math.abs(ship_left+ship_right+1)
 		if useMiningLaserOffset then
 			local mx, my, mz = miningLaser.getLocalPosition()
 			dx = x-mx
 			dz = z-mz
 		else
 			local mx, my, mz = ship.getLocalPosition()
 			dx = x-mx
 			dz = z-mz
 		end
 
 		forwardBackMov = 0
 		leftRightMov = 0
 
 		if rx ~= 0 then
 			forwardBackMov = dx*rx
 			leftRightMov = dz*rx
 		elseif rz ~= 0 then
 			forwardBackMov = dz*rz
 			leftRightMov = dx*rz
 		end
 		if math.abs(forwardBackMov) < minForwardBack and math.abs(leftRightMov) < minLeftRight then
 			w.status_showWarning("The movement is too small!")
 			return
 		end
 		forwardBackMov = forwardBackMov
 		leftRightMov = leftRightMov*-1
 		if laserGuideEnabled then
 			ship.movement(forwardBackMov, 0, leftRightMov)
 			ship.rotationSteps(0)
 			ship.command("MANUAL", true)
 		end
 	end
 end
 ----------- Boot sequence
 
 w.page_setEndText("Home(0),Controls(1),Crew(2),Navigation(3),Laser(4)")
 w.page_register('0', connections_page, nil)
 w.page_register('1', ship_page_controls, ship_key_controls)
 w.page_register('2', ship_page_crew, ship_key_crew)
 w.page_register('3', ship_page_navigation, ship_key_navigation)
 w.page_register('4', laser_guide_page, laser_key)
 ship_register()
 
 w.boot()
 local success, message = pcall(w.run)
 if not success then
   print("failed with message")
   print(message)
   w.sleep(3.0)
   print("rebooting...")
   w.reboot()
 else
   if ship ~= nil then
     ship.command("OFFLINE", true)
     ship.enable(false)
   end
 
   w.close()
 end