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-- shrekflight
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-- Releasd under MIT by ShreksHellraiser
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-- This is a script that provides basic creative-like flight and automatic flight to coordinates using plethora.
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-- Requires a keyboard, entity sensor, introspection module, and kinetic module
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-- To fly, simply double tap space, hold space to fly up, hold shift to fly down.
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-- You can modify your horizontal and vertical speeds in this with the commands
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-- ^vspeed and ^hspeed
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-- This also includes a ^goto command, this accepts a coordinate and will automatically fly you to that location.
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-- This is not *100%* reliable, but as long as you *first* set your position ~200 blocks above the ground and then
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-- set your target to where you want you should be fine.
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-- supports ~ style relative coordinates for your current gps location, and . for your set goto position.
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-- ^toggle will disable/reenable goto, entering fly mode by double tapping will too.
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local modules = peripheral.find("neuralInterface")
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if not modules then
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error("Must have a neural interface", 0)
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end
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if not modules.hasModule("plethora:sensor") then error("Must have a sensor", 0) end
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if not modules.hasModule("plethora:introspection") then error("Must have an introspection module", 0) end
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if not modules.hasModule("plethora:kinetic", 0) then error("Must have a kinetic agument", 0) end
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-- if not modules.hasModule("plethora:glasses") then error("Must have overlay glasses", 0) end
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local function start_pid(k_p, k_i, k_d)
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local e, de, ie = 0, 0, 0
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---Process a frame of the PID
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---@param dt number frametime
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---@param sp number desired setpoint
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---@param pv number process variable
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return function(dt, sp, pv)
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local ne = sp - pv
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de = (ne - e) / dt -- instantaneous derivative
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ie = ie + (ne * dt) -- summed integral
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e = ne -- error
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return (k_p * e) + (k_i * ie) + (k_d * de)
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end
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end
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local target_coords = { 0, 200, 0 }
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local goto_enable = false
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local hover_enable = false
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local function control()
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-- assert(chatbox.isConnected(), "Chatbox isn't connected!")
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while true do
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local event, user, command, args, data = os.pullEvent("command")
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if data.ownerOnly then
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if command == "goto" then
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local x, y, z = gps.locate()
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for i = 1, 3 do
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if args[i] then
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if args[i]:sub(1, 1) == "~" and x and y and z then
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-- current coords
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local offset = tonumber(args[i]:sub(2, -1)) or 0
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print(offset)
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target_coords[i] = ((i == 1 and x) or (i == 2 and y) or z) + offset
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elseif args[i]:sub(1, 1) == "." then
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-- change it
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local offset = tonumber(args[i]:sub(2, -1)) or 0
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target_coords[i] = target_coords[i] + offset
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elseif tonumber(args[i]) then
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target_coords[i] = tonumber(args[i])
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end
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end
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end
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print(("target %u %u %u"):format(target_coords[1], target_coords[2], target_coords[3]))
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goto_enable = true
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hover_enable = false
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elseif command == "toggle" then
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hover_enable = hover_enable and goto_enable
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goto_enable = not goto_enable
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end
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end
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end
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end
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local function calc_xz_angle(x, z)
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local xz_angle = math.atan(math.abs(x / z)) * 180 / math.pi
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if z == 0 then
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xz_angle = 90
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end
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if x > 0 then
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xz_angle = -xz_angle -- -90 @ +x
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if z < 0 then
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-- -180 @ -z
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xz_angle = -180 - xz_angle
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end
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elseif z < 0 then
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-- +180 @ -z
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xz_angle = -180 - xz_angle
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end
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return xz_angle
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end
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local function calc_yxz_angle(y, xz)
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local yxz_angle = -math.atan(math.abs(y / xz)) * 180 / math.pi
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if xz == 0 then
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yxz_angle = -90
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end
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-- hard coded boost to emphasize upward vertical movement
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-- if y > 2 and yxz_angle < 10 then
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-- yxz_angle = 20
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-- end
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if y < 0 then
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yxz_angle = -yxz_angle
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end
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return yxz_angle
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end
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local function p_pid()
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local y_pid = start_pid(0.05, 0.005, 0.06)
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local x_pid = start_pid(0.1, 0, 0)
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local z_pid = start_pid(0.1, 0, 0)
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local t0 = os.epoch("utc")
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sleep()
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while true do
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sleep(0.2)
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if goto_enable then
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local x, y, z = gps.locate()
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if x and y and z and x == x and y == y and z == z then
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local t = os.epoch("utc")
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local dt = (t - t0) / 1000
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local y_impulse = y_pid(dt, target_coords[2], y)
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local x_impulse = x_pid(dt, target_coords[1], x)
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local z_impulse = z_pid(dt, target_coords[3], z)
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local x_vec = vector.new(x_impulse, 0, 0)
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local y_vec = vector.new(0, y_impulse, 0)
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local z_vec = vector.new(0, 0, z_impulse)
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local result = ((x_vec + y_vec + z_vec) / 3)
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local xz_hyp = math.sqrt(result.x ^ 2 + result.z ^ 2)
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local xz_angle = calc_xz_angle(result.x, result.z)
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local yxz_angle = calc_yxz_angle(result.y, xz_hyp)
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modules.launch(xz_angle, yxz_angle, math.min(4, math.abs(result:length())))
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t0 = t
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end
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end
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end
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end
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local target_vel = { 0, 0, 0 }
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local y_impulse_scale = 0.5
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local k_p = 4
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local owner = modules.getMetaOwner()
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local function v_pid()
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local x_pid = start_pid(0.1, 0, 0)
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local z_pid = start_pid(0.1, 0, 0)
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local t0 = os.epoch("utc")
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sleep()
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while true do
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local t = os.epoch("utc")
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while hover_enable and not goto_enable do
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t = os.epoch("utc")
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sleep(0)
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owner = modules.getMetaOwner()
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if not owner.isAirborne then
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hover_enable = false
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end
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local dt = (t - t0) / 1000
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local ticks = dt / 0.05
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local x, y, z = owner.motionX, owner.motionY, owner.motionZ
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local y_vel_err = (0.08 * ticks) + target_vel[2] - y
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-- IMPULSE STRENGTH LINEARLY CORROLATES TO VELOCITY
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local y_impulse = k_p * y_vel_err / y_impulse_scale
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local x_impulse = x_pid(dt, target_vel[1], x)
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local z_impulse = z_pid(dt, target_vel[3], z)
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local x_vec = vector.new(x_impulse, 0, 0)
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local y_vec = vector.new(0, y_impulse, 0)
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local z_vec = vector.new(0, 0, z_impulse)
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local result = ((x_vec + y_vec + z_vec) / 3)
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local xz_hyp = math.sqrt(result.x ^ 2 + result.z ^ 2)
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local xz_angle = calc_xz_angle(result.x, result.z)
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local yxz_angle = calc_yxz_angle(result.y, xz_hyp)
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local power = math.min(4, math.abs(result:length()))
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modules.launch(xz_angle, yxz_angle, power)
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t0 = t
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end
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os.pullEvent("velocity_control")
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end
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end
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local function wrap_angle(t)
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if t > 180 then
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t = -360 + t
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elseif t < -180 then
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t = 360 + t
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end
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return t
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end
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local function rad(deg)
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return deg / 180 * math.pi
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end
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local function deg(rad)
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return rad * 180 / math.pi
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end
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local v_speed = 0.5
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local sprinting_speed = 6
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local held_keys = {}
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local function get_v_vectors()
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local theta = owner.yaw
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local result = vector.new(0, 0, 0)
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local forward_power = ((held_keys[keys.w] and 1) or (held_keys[keys.s] and -1) or 0)
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local sideways_power = ((held_keys[keys.d] and -1) or (held_keys[keys.a] and 1) or 0)
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local h_power = 3
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if owner.isSprinting then
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h_power = sprinting_speed
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end
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result.x = result.x + h_power * math.cos(rad(theta)) * sideways_power
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result.z = result.z + h_power * math.sin(rad(theta)) * sideways_power
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result.x = result.x + h_power * math.cos(rad(wrap_angle(theta + 90))) * forward_power
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result.z = result.z + h_power * math.sin(rad(wrap_angle(theta + 90))) * forward_power
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return result.x, result.z
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end
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local function v_control()
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local space_presses = 0
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local space_press_timer
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local t0 = os.epoch("utc")
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while true do
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local event, key, command, args, data = os.pullEvent()
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local t = os.epoch("utc")
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local dt = (t - t0) / 1000
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if event == "key" then
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if key == keys.space or key == keys.h then
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if not held_keys[keys.space] then
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space_presses = space_presses + 1
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end
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if space_presses > 1 or key == keys.h then
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-- double tapped
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hover_enable = not hover_enable
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goto_enable = false
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print("double tap", hover_enable)
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os.queueEvent("velocity_control")
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space_presses = 0
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else
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target_vel[2] = v_speed
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end
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else
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space_presses = 0
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end
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if key == keys.leftShift then
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target_vel[2] = -v_speed
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end
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held_keys[key] = true
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elseif event == "key_up" then
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held_keys[key] = false
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if key == keys.space or key == keys.leftShift then
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if space_press_timer then
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os.cancelTimer(space_press_timer)
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end
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space_press_timer = os.startTimer(0.5)
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target_vel[2] = 0
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end
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elseif event == "timer" and key == space_press_timer then
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space_presses = 0
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elseif event == "command" and data.ownerOnly then
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local speed = tonumber(args[1])
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if command == "hspeed" and speed then
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sprinting_speed = speed --[[@as number]]
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elseif command == "vspeed" and speed then
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v_speed = speed
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end
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end
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t0 = t
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target_vel[1], target_vel[3] = get_v_vectors()
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end
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end
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parallel.waitForAny(v_pid, v_control, p_pid, control)
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