136 lines
3.7 KiB
Lua
136 lines
3.7 KiB
Lua
local kinetic = peripheral.find "plethora:kinetic"
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local modem = peripheral.find "modem"
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local laser = peripheral.find "plethora:laser"
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local sensor = peripheral.find "plethora:sensor"
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modem.open(70)
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local p = true
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local target = vector.new(gps.locate())
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local function calc_yaw_pitch(v)
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local pitch = -math.atan2(v.y, math.sqrt(v.x * v.x + v.z * v.z))
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local yaw = math.atan2(-v.x, v.z)
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return math.deg(yaw), math.deg(pitch)
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end
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local mob_names = { "Creeper", "Zombie", "Skeleton", "Blaze" }
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local mob_lookup = {}
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for _, mob in pairs(mob_names) do
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mob_lookup[mob] = true
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end
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local function calc_distance(entity)
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return math.sqrt(entity.x * entity.x + entity.y * entity.y + entity.z * entity.z)
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end
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local function sentry()
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while true do
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local mobs = sensor.sense()
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local nearest
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for _, mob in pairs(mobs) do
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if mob_lookup[mob.name] then
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mob.distance = calc_distance(mob)
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if nearest == nil or mob.distance < nearest.distance then
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nearest = mob
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end
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end
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end
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if nearest then
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local y, p = calc_yaw_pitch(vector.new(nearest.x, nearest.y, nearest.z))
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laser.fire(y, p, 0.5)
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sleep(0.2)
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else
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sleep(0.5)
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end
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end
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end
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local function fly()
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while true do
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kinetic.launch(0,270,0.320)
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sleep(0.2)
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end
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end
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parallel.waitForAll(
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fly,
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function()
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while true do
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local current = vector.new(gps.locate())
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local displacement = target - current
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if displacement:length() > 0.1 then
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displacement = displacement + vector.new(0, 0.3, 0)
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local y, p = calc_yaw_pitch(displacement)
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local pow = math.min(displacement:length() * 0.08, 2.0)
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print(y, p, pow)
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kinetic.launch(y, p, pow)
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end
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sleep(1)
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end
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end,
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function()
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while true do
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event, side, frequency, replyFrequency, message, distance = os.pullEvent("modem_message")
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if message == "up" then
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target.y = target.y + 1
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elseif message == "down" then
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target.y = target.y - 1
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elseif message == "north" then
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target.z = target.z - 1
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elseif message == "south" then
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target.z = target.z + 1
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elseif message == "west" then
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target.x = target.x - 1
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elseif message == "east" then
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target.x = target.x + 1
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end
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end
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end,
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sentry
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)
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--[[
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local xDev = tarX - x
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local yDev = tarY - y
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local zDev = tarZ - z
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if yDev+0.1 < 0 then
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local power = math.min(math.abs(yDev) / 6 ,0.1)
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print(power, "down", y, tarY, power, yDev)
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kinetic.launch(0,90, power)
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end
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if yDev-0.1 > 0 then
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local power = math.min(math.abs(yDev) / 6 ,0.1)
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print(power, "up", y, tarY, power, yDev)
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kinetic.launch(0,270, power)
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end
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if xDev+0.1 < 0 then
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local power = math.min(math.abs(xDev) / 8 ,0.33)
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print(power, "west", x, tarX, power, xDev)
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kinetic.launch(90,0, power)
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sleep(0.1)
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kinetic.launch(270,0, power * 0.75)
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end
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if xDev-0.1 > 0 then
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local power = math.min(math.abs(xDev) / 8 ,0.33)
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print(power, "east", x, tarX, power, xDev)
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kinetic.launch(270,0, power)
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sleep(0.1)
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kinetic.launch(90,0, power * 0.75)
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end
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if zDev+0.1 < 0 then
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local power = math.min(math.abs(zDev) / 8 ,0.33)
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print(power, "north", z, tarZ, power, zDev)
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kinetic.launch(180,0, power)
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sleep(0.1)
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kinetic.launch(0,0, power * 0.75)
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end
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if zDev-0.1 > 0 then
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local power = math.min(math.abs(zDev) / 8 ,0.33)
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print(power, "south", z, tarZ, power, zDev)
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kinetic.launch(0,0, power)
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sleep(0.1)
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kinetic.launch(180,0, power * 0.75)
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end
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end
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]] |