fly.lua

local a = peripheral.wrap("top")
local modem = peripheral.wrap("right")
local entity = peripheral.wrap("left")
modem.open(70)

local p = true


local curX, curY, curZ = gps.locate()
function fly()
    while true do
        a.launch(0,270,0.320)
        sleep(0.2)
    end
end
function trim(val, max)
    if val > max then
        return max
    end
    return val
end
parallel.waitForAll(
    fly,
    function()
        while true do
            if p then
                local x, y, z = gps.locate()
                local xDev = curX - x
                local yDev = curY - y
                local zDev = curZ - z
                if yDev+0.1 < 0 then
                    local power = trim(math.abs(yDev) / 6 ,0.1)
                    print(power, "down", y, curY, power, yDev)
                    a.launch(0,90, power)
                end
                if yDev-0.1 > 0 then
                    local power = trim(math.abs(yDev) / 6 ,0.1)
                    print(power, "up", y, curY, power, yDev)
                    a.launch(0,270, power)
                end
                if xDev+0.1 < 0 then
                    local power = trim(math.abs(xDev) / 8 ,0.33)
                    print(power, "west", x, curX, power, xDev)
                    a.launch(90,0, power)
                    sleep(0.1)
                    a.launch(270,0, power * 0.75)
                end
                if xDev-0.1 > 0 then
                    local power = trim(math.abs(xDev) / 8 ,0.33)
                    print(power, "east", x, curX, power, xDev)
                    a.launch(270,0, power)
                    sleep(0.1)
                    a.launch(90,0, power  * 0.75)
                end
                if zDev+0.1 < 0 then
                    local power = trim(math.abs(zDev) / 8 ,0.33)
                    print(power, "north", z, curZ, power, zDev)
                    a.launch(180,0, power)
                    sleep(0.1)
                    a.launch(0,0, power * 0.75)
                end
                if zDev-0.1 > 0 then
                    local power = trim(math.abs(zDev) / 8 ,0.33)
                    print(power, "south", z, curZ, power, zDev)
                    a.launch(0,0, power)
                    sleep(0.1)
                    a.launch(180,0, power  * 0.75)
                end
            end
            sleep(2)
        end
    end,
    function()
        while true do
            event, side, frequency, replyFrequency, message, distance = os.pullEvent("modem_message")
            p = false
            if message == "up" then
                curY = curY + 1
                a.launch(0,270,0.4)
                sleep(0.4)
                a.launch(0,90, 0.3)
            elseif message == "down" then
                curY = curY - 1
                a.launch(0,90, 0.4)
                sleep(0.4)
                a.launch(0,270,0.3)
            elseif message == "north" then
                curZ = curZ - 1
                a.launch(180,0, 0.15)
                sleep(0.4)
                a.launch(0,0, 0.1)
            elseif message == "south" then
                curZ = curZ + 1
                a.launch(0,0, 0.15)
                sleep(0.4)
                a.launch(180,0, 0.1)
            elseif message == "west" then
                curX = curX - 1
                a.launch(90,0, 0.15)
                sleep(0.4)
                a.launch(270,0, 0.1)
            elseif message == "east" then
                curX = curX + 1
                a.launch(270,0, 0.15)
                sleep(0.4)
                a.launch(90,0, 0.1)
            end
            p = true
        end
    end
)