vs testing

monitor = peripheral.find("monitor")
monitorLine = 0
shipReader = peripheral.find("ship_reader")
radar = peripheral.find("radar")

shipList = {}

targetID = 0

myPos = {}
targetPos = {}
currentBearing = 0
bearingToTarget = 0

--///////////////////////////////////////////////////TABLE UTILS
function dump(o)
   if type(o) == 'table' then
      local s = '{ '
      for k,v in pairs(o) do
         if type(k) ~= 'number' then k = '"'..k..'"' end
         s = s .. '['..k..'] = ' .. dump(v) .. ','
      end
      return s .. '} '
   else
      return tostring(o)
   end
end
--///////////////////////////////////////////////////BLACKLIST
function removeByBlacklist(blacklist,ships)
	local idsToRemove = {}
	for i = #ships, 1, -1 do
		currentShip = ships[i]
		for v = 0,#blacklist,1 do
			if (blacklist[v] == currentShip['id']) then
				table.remove(ships,i)
			end
		end
	end
end
--///////////////////////////////////////////////////MONITOR
function displayStr(str)
	monitor.setCursorPos(1,monitorLine)
	monitor.write(str)
	monitorLine = monitorLine+1
end
--///////////////////////////////////////////////////POSITION STUFF
function getPositions()
	myPos = shipReader.getWorldspacePosition()
	targetPos = shipList[1].position
end
--///////////////////////////////////////////////////ANGLE STUFF
function to_deg(ang)
	local newAngle = ang*180/math.pi
	if (newAngle < 0) then
		newAngle = newAngle + 360
	end
	return newAngle
end

function short_angle_dist(from, to)
	local max_angle = math.pi * 2
	local difference = math.fmod(to - from, max_angle)
	return math.fmod(2 * difference, max_angle) - difference
end

function angle_vec2(vec1,vec2)
	return (math.atan2(vec1.x - vec2.x , vec1.z - vec2.z))
end

function rad_to_target()
	local angle = angle_vec2(myPos,targetPos)
	return short_angle_dist(currentBearing,angle)
end
--///////////////////////////////////////////////////REDSTONE
function rotate_left()
	redstone.setOutput("left", true)
	redstone.setOutput("right", false)
end

function rotate_right()
	redstone.setOutput("left", false)
	redstone.setOutput("right", true)
end

function yaw_to_target()
	if(bearingToTarget<-0.03) then
		rotate_right()
	elseif (bearingToTarget > 0.03) then
		rotate_left()
	else
		redstone.setOutput("left", false)
		redstone.setOutput("right", false)
	end
end

--///////////////////////////////////////////////////START

local blacklist = {shipReader.getShipID()}

monitor.setCursorPos(1,1)
monitor.setTextScale(0.5)
monitor.clear()

--//////////////////////////////////////////////////UPDATE
while true do
	monitorLine = 1
	monitor.clear()
	monitor.setCursorPos(1,1)

	shipList = radar.scan(250)[1]
	removeByBlacklist(blacklist,shipList)
	getPositions()
	currentBearing = shipReader.getRotation()['roll']

	bearingToTarget = rad_to_target()

	displayStr("My pos: " .. math.floor(myPos.x) .. "," .. math.floor(myPos.y) .. "," .. math.floor(myPos.z))
	displayStr("My bearing: " .. math.floor(currentBearing))
	displayStr("Target pos: " .. math.floor(targetPos.x) .. "," .. math.floor(targetPos.y) .. "," .. math.floor(targetPos.z))
	displayStr("Degress to target:" .. bearingToTarget)
	--print(bearingToTarget)
	yaw_to_target()

	sleep(0.08)
end