View difference between Paste ID: qMDJ9rMf and kLrNbpRG

 local component = require("component")
 local event = require("event")
 local serialization= require("serialization")
 local computer= require("computer")
 local thread= require("thread")
-local term= require("term")
+
 local Tn = component.navigation
---local Tn = component.navigation
+local Tr = component.radar
---local Tr = component.radar
+
 local SoldiersChannel = 2413
-local QueensResponseChannel = 2402
+
-local PawnsChannel = 2413
+
-local PawnsResponseChannel = 2403
+
 --local q_firmware = require("queen_firmware")
-local drone_is_queen = true
+--local flightform = require("flight_formation")
 
 modem.open(QueensChannel)
 
-local q_firmware = require("queen_firmware")
+--q_firmware.broadcastFirmWare(QueensChannel)
-local flightform = require("flight_formation")
+function Q_FIRMWARE()
-local radar_targeting = require("radar_targeting")
+modem.broadcast(QueensChannel,
-local GPS = require("GPS")
+[[
-local GPS_TRG = require("GPS_TRG")
+Qr= component.proxy(component.list('radar')())
-local p_firmware = require("pawn_firmware")
+Qn= component.proxy(component.list('navigation')())
-local formation_generator = require("formation_generator")
+Qd= component.proxy(component.list('drone')())
 Qm= component.proxy(component.list('modem')())
-modem.open(QueensResponseChannel)
+QueensChannel = 2412
-modem.open(PawnsResponseChannel)
+Qm.open(QueensChannel)
 ]]
 )
 
 modem.broadcast(QueensChannel,
 [[
---form1 = {{13,2,-2},{-13,2,-2},{0,2,13}} --bad y gps value
+function sleep(timeout)
---form1 = {{3,8,-2},{-3,14,-2},{0,20,3}} -- bad xz gps values
+	checkArg(1, timeout, 'number', 'nil')
---form1 = {{10,8,-10},{-10,14,0},{5,20,10}}
+	local deadline = computer.uptime() + (timeout or 0)
---form1 = {{0,0,0},{5,5,0},{0,10,10},{-15,15,0},{0,20,-20}}
+	repeat
---form1 = {{0,0,0},{2,2,0},{0,4,4},{-8,8,0},{0,10,-10},{12,12,0},{0,14,14},{-16,16,0}}--golden ratio Spiral
+		computer.pullSignal(deadline - computer.uptime())
-actualSatForm = {{0,25,-3},{0,25,3},{3,22,0},{-3,22,0}}-- ComputerCraft Heresy --(Tetrahedron) -- it's actually good for xz coordinates
+	until computer.uptime() >= deadline
---satff={}
+
---compensatedSatForm = {{0,25,-2},{0,25,3},{2,22,0},{-3,22,0}}
+
---form1 = {{0,35,-3},{0,30,3},{3,20,0},{-3,25,0}}
+)
---form1 = {{0,35,-5},{0,30,2},{5,20,0},{-2,25,0}}
+
---form2 = {{-2,10,2},{2,15,2},{0,2,0}}
+modem.broadcast(QueensChannel,
---form3 = {{-2,20,-2},{2,25,-2}}
+[[
---form2 = {{-10,10,10},{10,12,10},{0,5,0}}
+function getPlayerCoord(e_name)
---form3 = {{-10,14,-10},{10,16,-10}}
+	checkArg(1,e_name,'string','nil')
-form2 = {{3,0,0},{0,3,0},{0,0,3},{3,0,3},{-3,0,-3}}
+	for k,v in ipairs(Qr.getPlayers()) do
-form3 = {{-3,0,0},{0,-3,0},{0,0,-3},{3,3,3},{-3,-3,-3}}
+		if v.name == e_name then
 			return {v.x,v.y,v.z},v.distance
---*************--
+		end
---[[
+
-The radar has an inaccuracy where it recognises two blocks as zeroes in each axis.
+	return {0,0,0},0
-Drones positioned in coordinates with positive axis components around a target player are actually a block extra away from the origin
+
-the given formation array is thus compensated in the formUP function from the flight_formation library
+
 )
---*************--
+modem.broadcast(QueensChannel,
 [[
-fbook={actualSatForm,form2,form3}
+function move(x,y,z)
 	checkArg(1,x,'number','nil')
 	checkArg(1,y,'number','nil')
 	checkArg(1,z,'number','nil')
-print("Bingus30")
+	if x and y and z then
-function printSwarmStats()
+			Qd.setLightColor(0x00FFAF)
-	term.clear()
+			Qd.move(x,y,z)
-	print("QUEENS:")
+
-	flightform.printDronePool(drone_is_queen)
+
-	flightform.printFFAssignment(ffbook)
+
 )
 modem.broadcast(QueensChannel,
 [[
 function sub_vec(A,B) return {A[1]-B[1],A[2]-B[2],A[3]-B[3]} end
---local trgChannel = 3
+function math.trunc(v)
     local t = math.modf(v)
 	return t
---trgPortBook = {}--{[trgport]="target"} multiple to fixed single relationship
+
-trgPortBook = {[3]="Bingus",[4]="Floppa",[5]="FloppaMi",[7]="FloppaNi"}
+function vec_trunc(A)
 	if A then
-Pawnffbook = {}
+		return {math.trunc(A[1]),math.trunc(A[2]),math.trunc(A[3])}
-Pawnffbook[1] = {}
+
-Pawnffbook[2] = {}
+	return nil
-Pawnffbook[3] = {}
+
-Pawnffbook[4] = {}
+function navMoveToPlayer(e_name)
-Pawnffbook[5] = {}
+	checkArg(1,e_name,"string","nil")
-Pawnffbook[6] = {}
+	local trgPos = {Qn.getPosition()},stp
-dynamicTriangle = {{3,2,-2},{-3,2,-2},{0,2,3}}
+
---staticTriangle = {{3,2,-2},{-3,2,-2},{0,2,3}}
+	if not trgPos[1] then Qd.setLightColor(0xFF0000) return "Out Of\nRange" end
---staticTriangle = formation_generator.TriangleFormation("Y:spanX",4,8,2,{x=0,y=2,z=0})
+
-staticTriangle = formation_generator.TriangleFormation("Y:spanX",8,10,2,{x=0,y=2,z=0})
+	trgPos = vec_trunc(trgPos)
-staticTriangle = formation_generator.rotateFormation("X",math.pi/4,staticTriangle)
+	local mv = {0,0,0}
---staticOrbitTriangle = {{3,2,-2},{-3,2,-2},{0,2,3}}
+	local mapRange = Qn.getRange()
---staticOrbitSquare = {{1,1,0},{-1,1,0},{0,1,1},{0,1,-1}}
+
-staticOrbitSquare = formation_generator.hollowSquareFormation("Z",5,5,7,{x=-2,y=0,z=0})
+	repeat
-dynamicOrbitSquareMe = {{1,3,0},{-1,3,0},{0,3,1},{0,3,-1}}
+		local v = getPlayerCoord(e_name)
-dynamicTriangleMe = {{3,4,-2},{-3,4,-2},{0,4,3}}
+		v = vec_trunc(v)
---Pawnform1 = {{0,2,0}}
+		local Qnpos = {Qn.getPosition()}
-Pawnfbook = {dynamicTriangle,staticTriangle,staticOrbitSquare,dynamicOrbitSquareMe,dynamicTriangleMe}
+		if Qnpos[1] then
-Pawndynamic_fbook = Pawnfbook
+			Qnpos = vec_trunc(Qnpos)
 			local Qpn = {Qnpos[1] + v[1], Qnpos[2] + v[2] + 2, Qnpos[3] + v[3]}
-ring = formation_generator.circleFormation("Y",10,{x=0,y=0,z=7})
+			mv = sub_vec(Qpn,trgPos)
-ring2 = formation_generator.circleFormation("Y",10,{x=0,y=0,z=7})
+			if math.abs(Qpn[1]) < mapRange-5 and math.abs(Qpn[3]) < mapRange-5 then
-hollow_square = formation_generator.hollowSquareFormation("Y",3,3,7,{x=-1,y=0,z=-1})
+				Qd.move(mv[1],mv[2],mv[3])
-triangle = formation_generator.TriangleFormation("Y:spanX",2,4,2,{x=0,y=2,z=0})
+				trgPos = Qpn
-rotated_hsqr = formation_generator.rotateFormation("Z",math.pi/4,hollow_square)
+			end
 		else
-dynamicTriangle = formation_generator.TriangleFormation("X:spanZ",1,2,3,{x=-1,y=1,z=0})
+			Qd.setLightColor(0xFF0000)
-dynamicTriangle2 = formation_generator.TriangleFormation("X:spanZ",1,2,3,{x=-1,y=-1,z=0})
+			Qd.setStatusText("Out Of\nRange")
-for k,v in ipairs(dynamicTriangle2) do
+			Qd.move(-mv[1],-mv[2],-mv[3])
-      table.insert(dynamicTriangle,v)
+
-    end
+		stp = select(6,computer.pullSignal(0.5))
 	until stp == "stop"
---numbering must be the same with ffbook, can't regen otherwise:
+	return Qd.name()
-PawnGeneratedFormBook = {{},{},{},ring,ring2,dynamicTriangle,hollow_square,triangle,rotated_hsqr}
+
-dynamicPawnPyramidBook = PawnGeneratedFormBook
+
 )
---[[
+modem.broadcast(QueensChannel,
-For Floppa:
+[[
-Pawnffbook[1] = Pawndynamic_fbook[1] = dynamicTriangle
+function navSwarmPlayer(e_name)
-Static:
+	checkArg(1,e_name,"string","nil")
-Pawnffbook[2] = Pawndynamic_fbook[2] = staticTriangle
+	local trgPos = {Qn.getPosition()},stp
-Pawnffbook[3] = Pawndynamic_fbook[3] = staticOrbitSquare
+
-Follow Me:
+	if not trgPos[1] then Qd.setLightColor(0xFF0000) return "Out Of\nRange" end
-Pawnffbook[4] = PawnGeneratedFormBook[4] = ring
+
-Pawnffbook[5] = PawnGeneratedFormBook[5] = ring2
+	trgPos = vec_trunc(trgPos)
-Pawnffbook[6] = PawnGeneratedFormBook[6] = dynamicTriangle
+	local mv = {0,0,0}
 	local mapRange = Qn.getRange()
-trgPortBookME = {[11]="ph0",[12]="ph0",[13]="ph0"}
+
-StaticFormationtrgPortBook = {[8]="team1",[10]="team2"}
+	repeat
 		local v = getPlayerCoord(e_name)
-function printSwarmStatsPawn()
+		v = vec_trunc(v)
-	term.clear()
+		local Qnpos = {Qn.getPosition()}
-	print("PAWNS:")
+		if Qnpos[1] then
-	flightform.printDronePool(false)
+			Qnpos = vec_trunc(Qnpos)
-	flightform.printFFAssignment(Pawnffbook)
+			local Qpn = {Qnpos[1] + v[1] +math.random(-3,3), Qnpos[2] + v[2] +math.random(-3,3), Qnpos[3] + v[3]+math.random(-3,3)}
 			mv = sub_vec(Qpn,trgPos)
 			if math.abs(Qpn[1]) < mapRange-5 and math.abs(Qpn[3]) < mapRange-5 then
 				Qd.move(mv[1],mv[2],mv[3])
 				trgPos = Qpn
 			end
-
+		else
-	-- QUEEN Commands
+			Qd.setLightColor(0xFF0000)
 			Qd.setStatusText("Out Of\nRange")
-		q_firmware.broadcastFirmWare(QueensChannel)
+			Qd.move(-mv[1],-mv[2],-mv[3])
 		end
 		stp = select(6,computer.pullSignal(0.5))
 	until stp == "stop"
 	return Qd.name()
 end
 ]]
 )
 modem.broadcast(QueensChannel,
 [[
 local cc = 1
 isFree = true
 function replyInv(add)
 	if isFree then
 		Qd.setLightColor(0xFF00BB)
 		Qm.send(add,QueensChannel,"pkme")
 		--Qd.setStatusText(tostring(cc))
-		flightform.populatePool(QueensChannel,drone_is_queen)
+		cc=cc+1
 	end
-		printSwarmStats()
+
 ]]
 )
 modem.broadcast(QueensChannel,
-		flightform.refreshFFT(ffbook,dynamic_fbook,QueensChannel,drone_is_queen)
+[[
-		flightform.formFF(ffbook[1],dynamic_fbook[1],QueensChannel,drone_is_queen)
+acts = {
-		flightform.QformUP("ph0",ffbook[1],QueensChannel)
+	["go"] = function(r_add,tag,x,y,z) Qd.setLightColor(0x00FF00) Qd.setStatusText(navMoveToPlayer(tag)) end,
-		printSwarmStats()
+    ["bzz"] = function(r_add,tag,x,y,z) Qd.setLightColor(0x0000FF) Qd.setStatusText(navSwarmPlayer(tag)) end,
 	["move"] = function(r_add,tag,x,y,z) move(x,y,z) end,
 	["inv"] = function(r_add,tag,x,y,z) replyInv(r_add) end,
-		flightform.refreshFFT(ffbook,dynamic_fbook,QueensChannel,drone_is_queen)
+	["commit"] = function(r_add,tag,x,y,z) Qd.setLightColor(0xFF1F00) isFree = false Qd.setStatusText("cmt "..tostring(isFree)) end,
-		flightform.formFF(ffbook[2],dynamic_fbook[2],QueensChannel,drone_is_queen)
+	["uncommit"] = function(r_add,tag,x,y,z) isFree = true end,
-		flightform.formFF(ffbook[3],dynamic_fbook[3],QueensChannel,drone_is_queen)
+	["uok"] = function(r_add,tag,x,y,z) Qd.setLightColor(0x77FF77) isFree = true Qm.send(r_add,QueensChannel,"actv") end,
-		flightform.QformUP("ph0",ffbook[2],QueensChannel)
+	["formup"] = function(r_add,tag,x,y,z) Qd.setLightColor(0x0011FF) Qd.setStatusText(navMoveToPlayerWOffset(tag,x,y,z)) end,
-		flightform.QformUP("ph0",ffbook[3],QueensChannel)
+	["HUSH"] = function(r_add,tag,x,y,z) computer.shutdown() end
-		printSwarmStats()
+}
 ]]
 )
 modem.broadcast(QueensChannel,
-			flightform.breakFormation(ffbook[i],dynamic_fbook[i],QueensChannel,drone_is_queen)
+[[
 gpsChannel = 2
-		printSwarmStats()
+trgChannel = 2472
 function QgpsBroadcast()
 	Qm.broadcast(gpsChannel,"Qgps")
-		flightform.refreshFFT(ffbook,dynamic_fbook,QueensChannel,drone_is_queen)
+
-		printSwarmStats()
+
 )
-	elseif(cmd == "PRINTQ") then --printGroup
+modem.broadcast(QueensChannel,
-		printSwarmStats()
+[[
 function navMoveToPlayerWOffset(e_name,xo,yo,zo)
 	checkArg(1,e_name,"string","nil")
 	local trgPos = {Qn.getPosition()}
 	if not trgPos[1] then Qd.setLightColor(0xFF0000) return "Out Of\nRange" end
 	trgPos = vec_trunc(trgPos)
-	elseif(cmd == "HUSH") then
+	local mv = {0,0,0}
-		modem.broadcast(QueensChannel,"HUSH")
+	local stp = "bingus"
 	local mapRange = Qn.getRange()
-
+	repeat
-	elseif(cmd == "GPS") then -- activate QUEEN satellite GPS broadcasting
+		local v = getPlayerCoord(e_name)
-		for addr,c in pairs(ffbook[1]) do
+		v = vec_trunc(v)
-			print(addr,c)
+		Qm.broadcast(gpsChannel,"gps",-v[1],-v[2],-v[3])
-			modem.send(addr,QueensChannel,"setgpspos",_,c[1],c[2],c[3])
+		local Qnpos = {Qn.getPosition()}
 		if Qnpos[1] then
-		modem.broadcast(QueensChannel,"startgps")
+			Qnpos = vec_trunc(Qnpos)
 			local Qpn = {Qnpos[1] + v[1] + xo, Qnpos[2] + v[2] + yo, Qnpos[3] + v[3] + zo}
 			mv = sub_vec(Qpn,trgPos)
-
+			if math.abs(Qpn[1]) < mapRange-5 and math.abs(Qpn[3]) < mapRange-5 then
-	--PAWN Commands
+				Qd.move(mv[1],mv[2],mv[3])
-
+				trgPos = Qpn
-
+			end
-	elseif(cmd == "K") then -- terminate GPS targeting thread
+		else
-		GPS_TRG.killGPSTRGThread(gpsChannel)
+			Qd.setLightColor(0xFF0000)
 			Qd.setStatusText("Out Of\nRange")
 			Qd.move(-mv[1],-mv[2],-mv[3])
-	elseif(cmd == "A") then -- form triangle on Floppa with PAWNS
+
-		local targetingChannel = 4
+		stp = select(6,computer.pullSignal(0.5))
-		--flightform.refreshFFT(Pawnffbook,Pawndynamic_fbook,PawnsChannel,false)-- use RPE
+	until stp == "stop"
-		flightform.formFF(Pawnffbook[1],Pawndynamic_fbook[1],PawnsChannel,false)
+	return Qd.name()
-		flightform.PformUP(targetingChannel,Pawnffbook[1],PawnsChannel)
+
-		printSwarmStatsPawn()
+
 )
-
+modem.broadcast(QueensChannel,
-	elseif(cmd == "TRG") then -- start entity (Floppa) targeting broadcast
+[[
-		local targetingChannel = 4
+Qd.setAcceleration(100)
-		GPS_TRG.updateGPSTRGsPRINT(trgPortBook,gpsChannel,{[targetingChannel]=0},{[targetingChannel]="Y"},{[targetingChannel]=0})
+local cmd,tag,x,y,z
 Qd.setLightColor(0xFFAF00)
-
+
-	elseif(cmd == "SFP") then -- Static Formation PAWNS
+	_,_,r_add,_,_,cmd,tag,x,y,z = computer.pullSignal(0.5)
-		local targetingChannel = 8
+	if Qd.name():match("^Q%d+$") then
-		--modem.broadcast(targetingChannel,"stop")
+		if acts[cmd] then
-		--flightform.refreshFFT(Pawnffbook,Pawndynamic_fbook,PawnsChannel,false)-- use RPE
+			acts[cmd](r_add,tag,x,y,z)
-		flightform.formFF(Pawnffbook[2],Pawndynamic_fbook[2],PawnsChannel,false)
+
-		flightform.PformUP(targetingChannel,Pawnffbook[2],PawnsChannel)
+
-		--flightform.POrbit(targetingChannel,Pawnffbook[2],PawnsChannel)
+	--Qd.setLightColor(0xFFAF00)
 	--Qd.setLightColor(0x77FF77)
-
+
-	elseif(cmd == "USFP") then -- Update Static Formation PAWNS
+
-		local targetingChannel = 8
+)
-		modem.broadcast(targetingChannel,"color",0xBC18FB)
+
-		GPS_TRG.updateStaticGPS(targetingChannel,gpsChannel,{[targetingChannel]=0},{[targetingChannel]="Y"},{[targetingChannel]=0})
+modem.open(SoldiersChannel)
 modem.broadcast(SoldiersChannel,"Sr= component.proxy(component.list('radar')())")
 modem.broadcast(SoldiersChannel,"Sn= component.proxy(component.list('navigation')())")
-	elseif(cmd == "SRFP") then -- Static Rotating Formation PAWNS
+modem.broadcast(SoldiersChannel,"Sd= component.proxy(component.list('drone')())")
-		local targetingChannel = 10
+modem.broadcast(SoldiersChannel,"function sleep(timeout) checkArg(1, timeout, 'number', 'nil') local deadline = computer.uptime() + (timeout or 0) repeat computer.pullSignal(deadline - computer.uptime()) until computer.uptime() >= deadline end")
-		--modem.broadcast(targetingChannel,"stop")
+
-		--flightform.refreshFFT(Pawnffbook,Pawndynamic_fbook,PawnsChannel,false)-- use RPE
+
-		flightform.formFF(Pawnffbook[3],Pawndynamic_fbook[3],PawnsChannel,false)
+
-		flightform.POrbit(targetingChannel,Pawnffbook[3],PawnsChannel)
+
-		os.sleep(0.5)
+
-
+
-	elseif(cmd == "USRFP") then -- Update Static Rotating Formation PAWNS
+form1 = {{3,2,-2},{-3,2,-2},{0,2,3}}
-		local targetingChannel = 10
+form2 = {{-2,2,2},{2,2,2}}
-		local rotationAngleInterval = math.pi/8
+form3 = {{-2,2,-2},{2,2,-2}}
-		local tiltAngle = math.pi/4
+fbook={form1,form2,form3}
-		modem.broadcast(targetingChannel,"color",0xF78E1E)
+
-		GPS_TRG.updateStaticGPS(targetingChannel,gpsChannel,{[targetingChannel]=rotationAngleInterval},{[targetingChannel]="X"},{[targetingChannel]=tiltAngle})
+
-		os.sleep(0.5)
+pool={}
-
+
-	elseif(cmd == "RM") then -- Rotating on Me
+function clearPool()
-		local targetingChannel1 = 11
+
-		local targetingChannel2 = 12
+
-		local targetingChannel3 = 13
+
-		--modem.broadcast(targetingChannel1,"stop")
+msg_reaction = {
-		--modem.broadcast(targetingChannel2,"stop")
+}
-		--modem.broadcast(targetingChannel3,"stop")
+
-
+function msg_handler(evt,l_add,r_add,port,dist,msg,...)
-		--flightform.refreshFFT(Pawnffbook,dynamicPawnPyramidBook,PawnsChannel,false) -- use RPM
+
-
+
-		--[[
+
-		flightform.formFF(Pawnffbook[4],Pawndynamic_fbook[4],PawnsChannel,false)
+function openFlighFormComms()
-		flightform.POrbit(targetingChannel,Pawnffbook[4],PawnsChannel)
+
-
+function closeFlighFormComms() --**********************--
-		flightform.formFF(Pawnffbook[5],Pawndynamic_fbook[5],PawnsChannel,false)
+
-		flightform.PformUP(targetingChannel,Pawnffbook[5],PawnsChannel)
+
-		]]
+function populatePool(port) --**********************--
-		----flightform.formFF(Pawnffbook[4],dynamicPawnPyramidBook[2],PawnsChannel,false)
+
-		flightform.formFF(Pawnffbook[4],dynamicPawnPyramidBook[4],PawnsChannel,false)
+
-		flightform.formFF(Pawnffbook[5],dynamicPawnPyramidBook[5],PawnsChannel,false)
+function refreshPool(port)
-		flightform.formFF(Pawnffbook[6],dynamicPawnPyramidBook[6],PawnsChannel,false)
+
-		--flightform.formFF(Pawnffbook[5],dynamicPawnPyramidBook[2],PawnsChannel,false)
+
-		--flightform.formFF(Pawnffbook[5],dynamicPawnPyramidBook[3],PawnsChannel,false)
+function add2Pool(addr)
-		--flightform.formFF(Pawnffbook[5],dynamicPawnPyramidBook[4],PawnsChannel,false)
+
-		--flightform.PformUP(targetingChannel2,Pawnffbook[4],PawnsChannel)
+
-		flightform.POrbit(targetingChannel1,Pawnffbook[4],PawnsChannel)
+function setAsActive(addr)
-		flightform.POrbit(targetingChannel2,Pawnffbook[5],PawnsChannel)
+
-		flightform.POrbit(targetingChannel3,Pawnffbook[6],PawnsChannel)
+
 function add2FF(ff,f,addr,port)
-
+
-		os.sleep(0.5)
+
-	elseif(cmd == "URM") then -- Update Static Formation PAWNS
+function populateFF(ff,f,port)
-		local targetingChannel1 = 11
+
-		local targetingChannel2 = 12
+
-		local targetingChannel3 = 13
+function pruneFF(ff,f,port)
-		--modem.broadcast(targetingChannel,"color",tonumber(0xFF8800))
+
-		--for addr,c in pairs(Pawnffbook[5]) do modem.send(addr,targetingChannel1,"color",0x8800FF) end
+
-		--for addr,c in pairs(Pawnffbook[4]) do modem.send(addr,targetingChannel2,"color",0xFF8800) end
+function refreshFF(ff,f,port) --**********************--
-		--local rotationAngleInterval = math.pi/8 -- for squares
+
-		--modem.broadcast(targetingChannel1,"color",0x8800FF)
+
-		--modem.broadcast(targetingChannel2,"color",0xFF8800)
+function formFF(ff,f,port) --**********************--
-		modem.broadcast(targetingChannel1,"color",0xBC18FB)
+
-		modem.broadcast(targetingChannel2,"color",0x28DDEF)
+function formUP(e_name,ff,f,port) --**********************--
-		modem.broadcast(targetingChannel3,"color",0x00FF00)
+
-		local rotationAngleInterval1 = math.pi/4
+
-		local tiltAngle1 = math.pi/4
+function breakFormation(ff,f,port) --**********************--
-		local rotationAngleInterval2 = -math.pi/4
+
-		local tiltAngle2 = -math.pi/4
+
-		--local axisTable = {[targetingChannel1] = "Z",[targetingChannel2] = "Z"}
+function printDronePool() --**********************--
-		local axisTable = {[targetingChannel1] = "X",[targetingChannel2] = "X",[targetingChannel3]="Y"}
+
-		local tiltAngleTable = {[targetingChannel1] = tiltAngle1,[targetingChannel2] = tiltAngle2,[targetingChannel3]=0}
+function printFFAssignment(ffb) --**********************--
-		local rotAngIntTable = {[targetingChannel1] = rotationAngleInterval1,[targetingChannel2] = rotationAngleInterval2,[targetingChannel3]=0}
+
-		GPS_TRG.updateGPSTRGsPRINT(trgPortBookME,gpsChannel,rotAngIntTable,axisTable,tiltAngleTable)
+
-		--GPS_TRG.updateGPSTRGsPRINT(trgPortBookME,gpsChannel,rotationAngleInterval,"Z")
+
-		--GPS_TRG.updateGPSTRGsPRINT(trgPortBookME,gpsChannel,rotationAngleInterval,"X")
+print("Bingus28")
 
-	elseif(cmd == "URMREV") then -- Update Static Formation PAWNS Reverse
+
-		--[[local targetingChannel = 11
+
-		--modem.broadcast(targetingChannel,"color",tonumber(0x8800FF))
+local trgChannel = 2472
-		for addr,c in pairs(Pawnffbook[5]) do modem.send(addr,targetingChannel,"color",0xFF8800) end
+
-		--for addr,c in pairs(Pawnffbook[4]) do modem.send(addr,targetingChannel,"color",0x8800FF) end
+
-		--local rotationAngleInterval = -math.pi/8
+function gpsBroadcast(gps_port)
-		local rotationAngleInterval = -math.pi/4 -- for circles
+	while true do
-		local tiltAngle = -math.pi/4 -- for circles
+		modem.broadcast(gps_port,"gps",0,0,0)
-		GPS_TRG.updateGPSTRGsPRINT(trgPortBookME,gpsChannel,rotationAngleInterval,"Z",tiltAngle)
+		--print("broadcasting..")
-		--GPS_TRG.updateGPSTRGsPRINT(trgPortBookME,gpsChannel,rotationAngleInterval,"X",tiltAngle)
+		os.sleep()
-		--GPS_TRG.updateGPSTRGsPRINT(trgPortBookME,gpsChannel,rotationAngleInterval,"Z")
+
-		--GPS_TRG.updateGPSTRGsPRINT(trgPortBookME,gpsChannel,rotationAngleInterval,"X")]]
+
-		local targetingChannel1 = 11
+
-		local targetingChannel2 = 12
+local gpsThread
-		local targetingChannel3 = 13
+local sat_mode = false
-		modem.broadcast(targetingChannel1,"color",0xFF9945)
+function toggleGPSBroadCast(channel) --**********************--
-		modem.broadcast(targetingChannel2,"color",0x1CF6C5)
+	sat_mode = not sat_mode
-		modem.broadcast(targetingChannel3,"color",0xFFD700)
+	print("sat_mode: "..tostring(sat_mode))
-		local rotationAngleInterval1 = -math.pi/4
+	if sat_mode then
-		local tiltAngle1 = -math.pi/4
+		print("creating GPS Thread..")
-		local rotationAngleInterval2 = math.pi/4
+		gpsThread = thread.create(function(port) gpsBroadcast(port) end,channel)
-		local tiltAngle2 = math.pi/4
+
-		--local axisTable = {[targetingChannel1] = "X",[targetingChannel2] = "X"}
+		gpsThread:kill()
-		--local tiltAngleTable = {[targetingChannel1] = tiltAngle1,[targetingChannel2] = tiltAngle2}
+
-		--local rotAngIntTable = {[targetingChannel1] = rotationAngleInterval1,[targetingChannel2] = rotationAngleInterval2}
+
-		local axisTable = {[targetingChannel1] = "X",[targetingChannel2] = "X",[targetingChannel3]="X"}
+
-		local tiltAngleTable = {[targetingChannel1] = tiltAngle1,[targetingChannel2] = tiltAngle2,[targetingChannel3]= math.pi/2}
+function getPlayerCoord(e_name)
-		local rotAngIntTable = {[targetingChannel1] = rotationAngleInterval1,[targetingChannel2] = rotationAngleInterval2,[targetingChannel3]=0}
+	checkArg(1,e_name,'string','nil')
-		GPS_TRG.updateGPSTRGsPRINT(trgPortBookME,gpsChannel,rotAngIntTable,axisTable,tiltAngleTable)
+	for k,v in ipairs(Tr.getPlayers()) do
-		os.sleep(0.5)
+		if v.name == e_name then
-
+			return {v.x,v.y,v.z},v.distance
-	elseif(cmd == "GP") then -- recall PAWNS
+		end
-		modem.broadcast(PawnsChannel,"stop")
+
-		GPS_TRG.GPSRecall(trgPortBook,gpsChannel,PawnsChannel)
+	return {0,0,0},0
 end
-
+
-	elseif(cmd == "FP") then
+function trgBroadcast(e_name)
-		p_firmware.broadcastFirmWare(PawnsChannel)
+	while true do
 		local player_co = getPlayerCoord(e_name)
-	elseif(cmd == "EP") then
+		player_co = s_utils.vec_trunc(player_co)
-		for i = 1,#Pawnffbook do
+		modem.broadcast(trgChannel,"trg",player_co[1],player_co[2],player_co[3])
-			flightform.breakFormation(Pawnffbook[i],Pawndynamic_fbook[i],PawnsChannel,false)
+		--print("broadcasting target..")
 		os.sleep()
-		printSwarmStatsPawn()
+
 end
-	elseif(cmd == "RPE") then	--refresh PAWN Entity Formation
+local trgThread
-		flightform.refreshFFT(Pawnffbook,Pawndynamic_fbook,PawnsChannel,false)
+local send_trg = false
-		printSwarmStatsPawn()
+function toggleTargetBroadCast(target) --**********************--
-		os.sleep(0.5)
+	send_trg = not send_trg
-	elseif(cmd == "RPM") then	--refresh PAWN ME Formation
+	print("send_trg: "..tostring(send_trg))
-		flightform.refreshFFT(Pawnffbook,dynamicPawnPyramidBook,PawnsChannel,false)
+	if send_trg then
-		printSwarmStatsPawn()
+		print("creating TRG Thread..")
-		os.sleep(0.5)
+		trgThread = thread.create(function(t) trgBroadcast(t) end,target)
-	elseif(cmd == "PRINTP") then
+
-		printSwarmStatsPawn()
+		trgThread:kill()
 	end
-	elseif(cmd == "SP") then
+
-    		modem.broadcast(PawnsChannel,"stop")
+
-	    	os.sleep(0.5)
+
-	elseif(cmd == "HUSHP") then
+
-		modem.broadcast(PawnsChannel,"HUSH")
+
-	    	os.sleep(0.5)
+
-
+
-	elseif(cmd == "WRU") then
+		print("Broadcasting Queen FIRMWARE")
-		modem.broadcast(PawnsChannel,"wru")
+		Q_FIRMWARE()
-		modem.close(gpsChannel)
+
-		local _,_,r_addr,_,_,msg,x,y,z = event.pull("modem_message")
+
-		if msg == "here" then
+
-			print("r_addr: ",r_addr,"c: ",x,y,z)
+
     	os.sleep(0.5)
-	    	os.sleep(0.5)
+
 		modem.broadcast(QueensChannel,"stop")
-
+
     	os.sleep(0.5)
-		flightform.closeFlighFormComms()
+
-		GPS_TRG.killGPSTRGThread(gpsChannel)
+
    		modem.broadcast(QueensChannel,"move","",0,3,0)
     	os.sleep(0.5)
 	elseif(cmd == "P") then	--refreshFormation
 		populatePool(QueensChannel)
 	    os.sleep(0.5)
 	elseif(cmd == "T") then
 		formFF(ffbook[1],dynamic_fbook[1],QueensChannel)
 		formUP("ph0",ffbook[1],dynamic_fbook[1],QueensChannel)
 	    os.sleep(0.5)
 	elseif(cmd == "Q") then
 		formFF(ffbook[2],dynamic_fbook[2],QueensChannel)
 		formFF(ffbook[3],dynamic_fbook[3],QueensChannel)
 		formUP("ph0",ffbook[2],dynamic_fbook[2],QueensChannel)
 		formUP("ph0",ffbook[3],dynamic_fbook[3],QueensChannel)
 	    os.sleep(0.5)
 	elseif(cmd == "E") then
 		for i = 1,#ffbook do
 			breakFormation(ffbook[i],dynamic_fbook[i],QueensChannel)
 		end
 	    os.sleep(0.5)
 	elseif(cmd == "R") then	--refreshFormation
 		for i = 1,#ffbook do
 			refreshFF(ffbook[i],dynamic_fbook[i],QueensChannel)
 		end
 	    os.sleep(0.5)
 	elseif(cmd == "PRINT") then --printGroup
 		printDronePool()
 		printFFAssignment(ffbook)
 	    os.sleep(0.5)
 	elseif(cmd == "GPS") then
 		toggleGPSBroadCast(gpsChannel)
     	os.sleep(0.5)
 	elseif(cmd == "TRG") then
 		toggleTargetBroadCast("ph0")
     	os.sleep(0.5)
 	elseif(cmd == "EXIT") then
 		for i = 1,#ffbook do
 			breakFormation(ffbook[i],dynamic_fbook[i],QueensChannel)
 		end
 		closeFlighFormComms()
 		clearPool()
 		os.exit()
 	elseif(cmd == "S") then
     	modem.broadcast(QueensChannel,"stop")
 		event.ignore("modem_message",msg_handler)
     	os.sleep(0.5)
 	else
     	modem.broadcast(QueensChannel,cmd)
 	end
 end