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local function yaw_pitch(xoff,yoff,zoff)
local yaw = -math.deg(math.atan2(xoff,zoff))
local perp_dist = math.sqrt(xoff*xoff+zoff*zoff)
local pitch = -math.deg(math.atan2(yoff, perp_dist))
return yaw,pitch
end
local scanner = assert(peripheral.wrap"right")
local laser = assert(peripheral.wrap"left")
while true do
local scanned = scanner.scan()
local targets = {}
for _,s in ipairs(scanned) do
local should_add = true
for i,t in ipairs(targets) do
if t.x == s.x and t.z == s.z then
should_add = false
if s.y > t.y then
targets[i] = s
end
end
end
if should_add then
table.insert(targets,s)
end
end
for _,v in ipairs(targets) do
if v.z <= 7 and v.z >= -8
and v.x <= 7 and v.x >= -8
and v.y < 0 then
local yaw,pitch = yaw_pitch(v.x,v.y,v.z)
laser.fire(yaw,pitch,4)
end
end
end
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