alias aimee d0
alias door d1
alias sensor d2
alias vent d3
alias lever d4
alias weather d5

alias pressure r15
alias startx r14
alias startz r13

define MODEROAM 3
define MODEMOVE 2
define MODEUNLOAD 4
define MODEPATH 5
define MODEFULL 6
define GATEHASH 1736080881

s aimee On 1

l startx aimee PositionX
l startz aimee PositionZ
s aimee Mode MODEMOVE
jal homerun
mission1:
s lever Open 1
roam:
s aimee TargetX startx
s aimee TargetZ startz
s aimee Mode MODEROAM
check1:
yield
jal leveroverride
bdns weather noweather
l r0 weather Mode
bgtz r0 headhome
noweather:
l r0 aimee Mode
beq r0 0 roam
beq r0 MODEFULL headhome
ls r0 aimee 0 ChargeRatio
ble r0 0.5 headhome # low battery
j check1
headhome:
l r0 aimee PositionZ
j finalapproach
blt r0 59 headhome2
s aimee TargetX -22
s aimee TargetZ 59
s aimee Mode MODEPATH
jal homerun
headhome2:
j finalapproach
s aimee TargetX -20
s aimee TargetZ 50
s aimee Mode MODEPATH

jal homerun
# did path fail?
s aimee Mode MODEMOVE
jal homerun

finalapproach:
s lever Open 1

s aimee TargetX -16.99
s aimee TargetZ 59
s aimee TargetY 16
s aimee Mode MODEMOVE

jal homerun

s lever Open 0

vacuuming:
yield
s vent On 1
s vent Mode 1 #empty the chamber
l pressure sensor Pressure
bgtz pressure vacuuming

s vent On 0
s aimee Mode MODEUNLOAD
jal homerun

# s aimee On 0
s lever Open 1

bdse weather dead
s aimee On 0

dead:
yield

jal leveroverride

bdns weather noweather2
l r0 weather Mode
bgtz r0 dead
noweather2:

ls r0 aimee 0 ChargeRatio
bge r0 0.96 mission1 #full battery
#l r0 aimee On
#bnez r0 mission1
j dead

homerun:

yield
push ra
jal leveroverride
pop ra

l r0 aimee Mode
beq r0 0 ra
j homerun

leveroverride:
l r0 lever Open
bdns door batchgate
s door Open r0
j ra
batchgate:
sb GATEHASH Open r0
j ra