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1-
local a = peripheral.wrap("top")
1+
local kinetic = peripheral.find "plethora:kinetic"
2-
local modem = peripheral.wrap("right")
2+
local modem = peripheral.find "modem"
3-
local entity = peripheral.wrap("left")
3+
local laser = peripheral.find "plethora:laser"
4
local sensor = peripheral.find "plethora:sensor"
5
modem.open(70)
6
7
local p = true

8
9-
local curX, curY, curZ = gps.locate()

9+
local target = vector.new(gps.locate())

10-
function fly()

10+
11-
    while true do

11+
local function calc_yaw_pitch(v)

12-
        a.launch(0,270,0.320)

12+
    local pitch = -math.atan2(v.y, math.sqrt(v.x * v.x + v.z * v.z))

13-
        sleep(0.2)

13+
    local yaw = math.atan2(-v.x, v.z)

14-
    end

14+
    return math.deg(yaw), math.deg(pitch)

15
end

16-
function trim(val, max)

16+
17-
    if val > max then

17+
local mob_names = { "Creeper", "Zombie", "Skeleton", "Blaze" }

18-
        return max

18+
local mob_lookup = {}

19-
    end

19+
for _, mob in pairs(mob_names) do

20-
    return val

20+
    mob_lookup[mob] = true

21
end

22
 

23-
    fly,

23+
local function calc_distance(entity)

24-
    function()

24+
    return math.sqrt(entity.x * entity.x + entity.y * entity.y + entity.z * entity.z)

25-
        while true do

25+
26-
            if p then

26+
27-
                local x, y, z = gps.locate()

27+
local function sentry()

28-
                local xDev = curX - x

28+
	while true do

29-
                local yDev = curY - y

29+
    	local mobs = sensor.sense()

30-
                local zDev = curZ - z

30+
	    local nearest

31-
                if yDev+0.1 < 0 then

31+
    	for _, mob in pairs(mobs) do

32-
                    local power = trim(math.abs(yDev) / 6 ,0.1)

32+
        	if mob_lookup[mob.name] then

33-
                    print(power, "down", y, curY, power, yDev)

33+
            	mob.distance = calc_distance(mob)

34-
                    a.launch(0,90, power)

34+
	            if nearest == nil or mob.distance < nearest.distance then

35-
                end

35+
    	            nearest = mob

36-
                if yDev-0.1 > 0 then

36+
        	    end

37-
                    local power = trim(math.abs(yDev) / 6 ,0.1)

37+
	        end

38-
                    print(power, "up", y, curY, power, yDev)

38+
    	end

39-
                    a.launch(0,270, power)

39+
	    if nearest then

40-
                end

40+
			local y, p = calc_yaw_pitch(vector.new(nearest.x, nearest.y, nearest.z))

41-
                if xDev+0.1 < 0 then

41+
			laser.fire(y, p, 0.5)

42-
                    local power = trim(math.abs(xDev) / 8 ,0.33)

42+
	        sleep(0.2)

43-
                    print(power, "west", x, curX, power, xDev)

43+
    	else

44-
                    a.launch(90,0, power)

44+
        	sleep(0.5)

45-
                    sleep(0.1)

45+
		end

46-
                    a.launch(270,0, power * 0.75)

46+
	end

47-
                end

47+
48-
                if xDev-0.1 > 0 then

48+
49-
                    local power = trim(math.abs(xDev) / 8 ,0.33)

49+
local function fly()

50-
                    print(power, "east", x, curX, power, xDev)

50+
	while true do

51-
                    a.launch(270,0, power)

51+
		kinetic.launch(0,270,0.320)

52-
                    sleep(0.1)

52+
		sleep(0.2)

53-
                    a.launch(90,0, power  * 0.75)

53+
	end

54-
                end

54+
55-
                if zDev+0.1 < 0 then

55+
56-
                    local power = trim(math.abs(zDev) / 8 ,0.33)

56+
57-
                    print(power, "north", z, curZ, power, zDev)

57+
	fly,

58-
                    a.launch(180,0, power)

58+
	function()

59-
                    sleep(0.1)

59+
		while true do

60-
                    a.launch(0,0, power * 0.75)

60+
			local current = vector.new(gps.locate())

61-
                end

61+
			local displacement = target - current

62-
                if zDev-0.1 > 0 then

62+
			if displacement:length() > 0.1 then

63-
                    local power = trim(math.abs(zDev) / 8 ,0.33)

63+
				displacement = displacement + vector.new(0, 0.3, 0)

64-
                    print(power, "south", z, curZ, power, zDev)

64+
				local y, p = calc_yaw_pitch(displacement)

65-
                    a.launch(0,0, power)

65+
				local pow = math.min(displacement:length() * 0.08, 2.0)

66-
                    sleep(0.1)

66+
				print(y, p, pow)

67-
                    a.launch(180,0, power  * 0.75)

67+
				kinetic.launch(y, p, pow)

68-
                end

68+
			end

69-
            end

69+
			sleep(1)

70-
            sleep(2)

70+
		end

71-
        end

71+
	end,

72-
    end,

72+
	function()

73-
    function()

73+
		while true do

74-
        while true do

74+
			event, side, frequency, replyFrequency, message, distance = os.pullEvent("modem_message")

75-
            event, side, frequency, replyFrequency, message, distance = os.pullEvent("modem_message")

75+
			if message == "up" then

76-
            p = false

76+
				target.y = target.y + 1

77-
            if message == "up" then

77+
			elseif message == "down" then

78-
                curY = curY + 1

78+
				target.y = target.y - 1

79-
                a.launch(0,270,0.4)

79+
			elseif message == "north" then

80-
                sleep(0.4)

80+
				target.z = target.z - 1

81-
                a.launch(0,90, 0.3)

81+
			elseif message == "south" then

82-
            elseif message == "down" then

82+
				target.z = target.z + 1

83-
                curY = curY - 1

83+
			elseif message == "west" then

84-
                a.launch(0,90, 0.4)

84+
				target.x = target.x - 1

85-
                sleep(0.4)

85+
			elseif message == "east" then

86-
                a.launch(0,270,0.3)

86+
				target.x = target.x + 1

87-
            elseif message == "north" then

87+
			end

88-
                curZ = curZ - 1

88+
		end

89-
                a.launch(180,0, 0.15)

89+
	end,

90-
                sleep(0.4)

90+
	sentry

91-
                a.launch(0,0, 0.1)

91+
)

92-
            elseif message == "south" then

92+
93-
                curZ = curZ + 1

93+
				--[[

94-
                a.launch(0,0, 0.15)

94+
				local xDev = tarX - x

95-
                sleep(0.4)

95+
				local yDev = tarY - y

96-
                a.launch(180,0, 0.1)

96+
				local zDev = tarZ - z

97-
            elseif message == "west" then

97+
				if yDev+0.1 < 0 then

98-
                curX = curX - 1

98+
					local power = math.min(math.abs(yDev) / 6 ,0.1)

99-
                a.launch(90,0, 0.15)

99+
					print(power, "down", y, tarY, power, yDev)

100-
                sleep(0.4)

100+
					kinetic.launch(0,90, power)

101-
                a.launch(270,0, 0.1)

101+
				end

102-
            elseif message == "east" then

102+
				if yDev-0.1 > 0 then

103-
                curX = curX + 1

103+
					local power = math.min(math.abs(yDev) / 6 ,0.1)

104-
                a.launch(270,0, 0.15)

104+
					print(power, "up", y, tarY, power, yDev)

105-
                sleep(0.4)

105+
					kinetic.launch(0,270, power)

106-
                a.launch(90,0, 0.1)

106+
				end

107-
            end

107+
				if xDev+0.1 < 0 then

108-
            p = true

108+
					local power = math.min(math.abs(xDev) / 8 ,0.33)

109-
        end

109+
					print(power, "west", x, tarX, power, xDev)

110-
    end

110+
					kinetic.launch(90,0, power)

111-
)
111+
					sleep(0.1)

112
					kinetic.launch(270,0, power * 0.75)

113
				end

114
				if xDev-0.1 > 0 then

115
					local power = math.min(math.abs(xDev) / 8 ,0.33)

116
					print(power, "east", x, tarX, power, xDev)

117
					kinetic.launch(270,0, power)

118
					sleep(0.1)

119
					kinetic.launch(90,0, power  * 0.75)

120
				end

121
				if zDev+0.1 < 0 then

122
					local power = math.min(math.abs(zDev) / 8 ,0.33)

123
					print(power, "north", z, tarZ, power, zDev)

124
					kinetic.launch(180,0, power)

125
					sleep(0.1)

126
					kinetic.launch(0,0, power * 0.75)

127
				end

128
				if zDev-0.1 > 0 then

129
					local power = math.min(math.abs(zDev) / 8 ,0.33)

130
					print(power, "south", z, tarZ, power, zDev)

131
					kinetic.launch(0,0, power)

132
					sleep(0.1)

133
					kinetic.launch(180,0, power  * 0.75)

134
				end

135
			end

136
			]]
        

    


            


                                


        

            



                
    

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