@name ARTILLERY_FINAL
@inputs V1:vector Cannon:entity Speed Type Gyro
@outputs Pitch Yaw Distance
@persist D V21:vector V22:vector Sin Osin RX RY
@trigger
#My Final Artillery:
#Input The Vector of the target and the Entity of the (to judge the firing point)
#You can easily change the entity input to a vector of the firing point,
#and then replace line 17 with "V22 = vec(vec2(V2))" assuming V2 is the input
#Input the Speed of the Porjectile (in units/sec)
#Input the type, as this equation uses Sine, there are 2 solutions for each distance,
#By Setting Type to 0, a shallower shorter path is taken
#By Setting Type to 1, a higher, longer path is taken (more "Artillery-like")
#The expression will output Pitch of Firing, Yaw (what bearing to aim at) and the Distance between gun and Target)
#This expression uses equations from Wikipedia's "Trajectory of a  projectile" page
V21 = vec(vec2(V1))
V22 = vec(vec2(Cannon:pos()))
D = V21:distance(V22)
Sin=asin((0.5*D)/(Speed^2))
Osin=180-Sin
if(Type){
Pitch = 0.515*Osin}
else{
Pitch = 0.5*Sin}
Distance = D
RX = (V22:x()) - (V21:x())
RY = (V22:y()) - (V21:y())
Yaw = atan(RY/RX)-(Gyro-141.24)