drone = component.proxy(component.list("drone")())
nav = component.proxy(component.list("navigation")())
modem = component.proxy(component.list("modem")())

xPos,yPos,zPos = nav.getPosition()

xCorrection = 576.5
yCorrection = 0.5
zCorrection = 576.5


function goToGlobalPos(xTarget, yTarget, zTarget, xCorrection, yCorrection, zCorrection)

	xPos,yPos,zPos = nav.getPosition()

	moveX = xTarget - (xPos - xCorrection)
	moveY = yTarget - (yPos - yCorrection)
	moveZ = zTarget - (zPos - zCorrection)

	drone.move(moveX, moveY, moveZ)
	
	--  Debug, can remove
	modem.broadcast(2412, "Pos:  X:" .. xPos .. "  Y:" .. yPos .. "  Z:" .. zPos)
	modem.broadcast(2412, "Move:   X:" .. moveX .. "  Y:" .. moveY .. "  Z:" .. moveZ)
	modem.broadcast(2412, "Pos:  X:" .. math.floor(xPos) .. "  Y:" .. yPos .. "  Z:" .. math.floor(zPos))
	
	xPos,yPos,zPos = nav.getPosition()
	
end


modem.open(2412)

local function respond(...)
  local args = table.pack(...)
  pcall(function() modem.broadcast(2412, table.unpack(args)) end)
end


local function receive()
  while true do
    local evt,_,_,_,_,cmd = computer.pullSignal(5)
    if evt == "modem_message" then 
      return load(cmd)
    end
  end
end


while true do
  local result,reason = pcall(function()
    local result,reason = receive()
    if not result then return respond(reason) end
    respond(result())
    end)
  if not result then respond(reason) end
end