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local peripheralCallNative = select(2, debug.getupvalue(peripheral.call, 2)).call
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local ni = peripheral.wrap('back')
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if not fs.exists("event.lua") then shell.run("wget https://raw.githubusercontent.com/kepler155c/opus/develop-1.8/sys/modules/opus/event.lua") end
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local Event = require("/event")
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local sensitivity = .05
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local top = 0 -- tolerance?
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-- 1.0175
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local gravAdjust = (1.0175/0.98)
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local yScPower = 0.5 -- Plethora config
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local mcGrav = 0.08 -- Minecraft gravity
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local mcGravAdj = 0.98 -- Minecraft gravity
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-- Computed Values:
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local myAdjust = mcGrav * mcGravAdj
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local grav = myAdjust * gravAdjust
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local wantedPosition = -30
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local function queueCmd(results, fn, ...)
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local argz = {...}
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if not results then
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Event.addRoutine(function()
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peripheralCallNative("back", fn, unpack(argz))
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end):terminate()
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else
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Event.addRoutine(function()
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results(peripheralCallNative("back", fn, unpack(argz)))
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end)
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end
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end
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local lastQueuedPower = 0
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local lastCompleted = os.clock()
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local function launch(yPower)
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lastQueuedPower = yPower
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yPower = yPower * (1/yScPower)
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local aM = math.min(math.abs(yPower), 4)
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local pitch = (yPower >= 0) and -90 or 90
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queueCmd(function()
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lastCompleted = os.clock()
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end, 'launch', 0, pitch, aM)
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end
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local function correctMY(my)
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my = my - myAdjust
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local isTrue = lastCompleted == os.clock()
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return isTrue and my or my + (lastQueuedPower)
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end
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local totalDeviation = 0
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local wantedTarget = 10
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local lastTime = os.epoch("utc")
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local lastTime2 = os.epoch("utc")
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Event.onInterval(0.05, function()
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local thisTime2 = os.epoch("utc")
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local tt2 = thisTime2 - lastTime2
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lastTime2 = os.epoch("utc")
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-- Queue happens instantly
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queueCmd(function(r)
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local thisTime = os.epoch("utc")
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local tt = thisTime - lastTime
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local ogmy = r.motionY
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local my = correctMY(r.motionY)
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local dpy = r.deltaPosY
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totalDeviation = totalDeviation + dpy
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local errorP = wantedTarget - totalDeviation
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local wantedVel = math.abs(errorP) < top and 0 or errorP * sensitivity
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local errorV = (wantedVel - my)
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local power = grav + errorV
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launch(power * (tt/50)) -- (multiplying by tt/50 is probably a terrible idea)
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print(("%.3f %.3f %.3f %.3f %.3f %d %d"):format(wantedVel, my, power, dpy, totalDeviation, tt, tt2))
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lastTime = thisTime
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end, 'getMetaOwner')
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end)
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Event.pullEvents()