Drone

local xCoord = 110
local yCoord = 67
local zCoord = -26
local targetCoordX = 0
local targetCoordY = 0
local targetCoordZ = 0
local yTravel = 105

locations = {home = {108, 69, -26}}

local m = component.proxy(component.list('modem')())
local drone = component.proxy(component.list('drone')())
local l = component.proxy(component.list('leash')())

function wait()
  while drone.getOffset() > 0.7 or drone.getVelocity() > 0.9 do
    computer.pullSignal(0.2)
  end
end

m.open(2412)
local function respond(...)
  local args = table.pack(...)
  pcall(function() m.broadcast(2412, table.unpack(args)) end)
end

local function recieve()
  while true do
    local evt, _, _, _, _, cmds = computer.pullSignal()
    if evt == "modem_message" then
      return cmds
    end
  end
end

while true do
  local result, reason = pcall(function()
    local result = recieve()
    if not result or result == "" then
      return
    end
    local words = {}
    for word in result:gmatch("([^%s]+)") do
      table.insert(words, word)
    end
    if words[1] == "goto" then
      targetCoordX = words[3]-xCoord
      targetCoordZ = words[5]-zCoord
      drone.move(0, (yTravel-yCoord), 0)
      wait()
      yCoord = yTravel
      drone.move(targetCoordX, 0, targetCoordZ)
      wait()
      targetCoordY = words[4]-yCoord
      drone.move(0, targetCoordY, 0)
      wait()
      xCoord = words[3]
      yCoord = words[4]
      zCoord = words[5]
    elseif words[1] == "leash" then
      l.leash(0)
    else
      local ok,err = pcall(load(result))
      if not ok then
        respond(err)
      end
    end
  end)
  if not result then respond(reason) end
end