aaa

local modules = peripheral.find("neuralInterface")
if not modules then
	error("Must have a neural interface", 0)
end

if not modules.hasModule("plethora:sensor") then error("Must have a sensor", 0) end
if not modules.hasModule("plethora:scanner") then error("Must have a scanner", 0) end
if not modules.hasModule("plethora:introspection") then error("Must have an introspection module", 0) end
if not modules.hasModule("plethora:kinetic", 0) then error("Must have a kinetic agument", 0) end

local meta = {}
local hover = true
local x
local y 
local z

local targetX = -327
local targetZ = -389

meta = modules.getMetaOwner()
function distance(tx,ty,x,y)
    return math.abs(math.sqrt(math.pow(tx - x,2) + math.pow(ty - y,2)))
end
parallel.waitForAny(
    function ()
        while true do
            local event, key = os.pullEvent()
            if event == "key" and key == keys.l then
                while true do
                    if math.abs(300-y) > 5 then
                        modules.launch(0, -90, 4)
                    else
                        
                        break
                    end

                end
                
            end
        end
    end,
    function()
        while true do
            local event, key = os.pullEvent()
            if event == "key" and key == keys.o then
                local deltaX = targetX - x;
                local deltaZ = targetZ - z;
                local rad = math.atan2(deltaX, deltaZ)
                local deg = rad * (180 / math.pi)
 
                while true do
                    deltaX = targetX - x;
                    deltaZ = targetZ - z;
                    if distance(targetX,targetZ,x,z) > 150 then
                        print("applying force!")
                        modules.launch(-deg, 0 , max(0.2,min(4,distance(targetX,targetZ,x,z)/10)))
                    
                        end
                        break
                    end
                    
                end
            end
            
        end
    end,
    function()
		while true do
			meta = modules.getMetaOwner()
		end
    end,
    function()
		while true do
			x,y,z = gps.locate(1)
		end
    end,
    function()
		while true do
			if hover then
				-- We calculate the required motion we need to take
				local mY = meta.motionY
				mY = (mY - 0.138) / 1.1

				-- If it is sufficiently large then we fire ourselves in that direction.
				if mY > 0.5 or mY < 0 then
					local sign = 1
					if mY < 0 then sign = -1 end
					modules.launch(0, 90 * sign, math.min(4, math.abs(mY)))
				else
					sleep(0)
				end
			else
				os.pullEvent("hover")
			end
		end
	end
)