neural cleanup

ignore/neuralFly.lua

@@ -0,0 +1,97 @@
+_G.requireInjector(_ENV)
+
+local Config = require('config')
+local GPS = require('gps')
+local ni = _G.device.neuralInterface
+
+local os       = _G.os
+local parallel = _G.parallel
+
+local id = ni.getID()
+local config = Config.load('flight', { })
+
+local args = { ... }
+if args[1] == 'wp' then
+  local pt = GPS.locate()
+  config[args[2]] = pt
+  Config.update('flight', config)
+  return
+end
+
+local wp = config[args[1]]
+if not wp then
+  error('invalid wp')
+end
+
+local pt = GPS.locate()
+
+local function descend()
+  print('descending to ' .. wp.y)
+  repeat
+    local meta = ni.getMetaByID(id)
+    if meta.motionY < 0 then
+      ni.launch(0, -90, math.min(4, meta.motionY / -0.5))
+    end
+    print(math.abs(wp.y - pt.y))
+  until math.abs(wp.y - pt.y) < 1
+end
+
+local function gps()
+  while true do
+    local lpt = GPS.locate()
+    if lpt then
+      pt = lpt
+    end
+    os.sleep(.1)
+  end
+end
+
+local function yap(x, y, z)
+  local pitch = -math.atan2(y, math.sqrt(x * x + z * z))
+  local yaw = math.atan2(-(x - .5), z - .5)
+
+  return math.deg(yaw), math.deg(pitch)
+end
+
+local function distance(a, b)
+ return math.sqrt(
+           math.pow(a.x - b.x, 2) +
+           math.pow(a.z - b.z, 2))
+end
+
+local function hover()
+  repeat
+    local meta = ni.getMetaByID(id)
+    local pitch = 295
+    local yaw = yap(wp.x - pt.x, wp.y, wp.z - pt.z)
+
+    if pt.y < wp.y + 100 and meta.motionY < 0 then
+      ni.launch(yaw, pitch, math.min(4, math.min(4, -meta.motionY * math.abs(pt.y - (wp.y + 100)) / 2)))
+    end
+
+  until distance(wp, pt) < 2
+end
+
+local function launch()
+  ni.launch(0, 270, 3)
+
+  repeat
+    local meta = ni.getMetaByID(id)
+  until meta.motionY < 0
+
+  hover()
+
+  descend()
+end
+
+local s, m = pcall(parallel.waitForAny, launch, gps)
+
+if not s then
+  _G.printError(m)
+end
+
+--s, m = pcall(parallel.waitForAny, descend, gps)
+
+if not s then
+  error(m)
+end