PC Drone Delivery Network

;;;This is a model for PC DP optimization
;C. Emeka, J. Stewart, G. Craig
;;create "classes"
;

breed [drones drone]
breed [rtDrones rtDrone] ;deprecated
breed [trucks truck]
breed [houses house]
breed [warehouses warehouse]

;;class attributes
drones-own[
     destination
     load-status
     takeoff-status
     balogna ;;im using this for a super balogna reason,, don't hate its adequately named i cant get the if else to work lol.
     collision  
     altitude
     secondary
     dsp
    
     
]


;truck stuff
trucks-own[
  destination
  load-status
  takeoff-status
  balogna
  secondary
  ]


;returing drones so the ATMS can distinguis between returning and delivering drones
;I really wish NetLogo had a get turtles at patches at patch method, then this wouldnt be neccessary
rtDrones-own[
      destination
     load-status
     takeoff-status
     balogna ;;im using this for a super balogna reason,, don't hate chinny its adequately named i cant get the if else to work lol.
     collision  
     altitude
     secondary
  ]

warehouses-own[
  tarmac
]

;;create global variables
globals[
 ;routes is a list of all networked drones routes 
 routes 
 LastPos ;; postion for collision detection 
 collision-count ; collision count - includes at least 2 drones
 alt ; should be a local variable but i don't know how to make those
 colCount ; should be local, but don't know how to mske those
 chance; global for random? WTF ARE THERE NO LOCAL VARIABLES in the POS???,, let chance random xx   doesnt work
 baseY ; this is the y cord of the base/warehouse
 baseX ; this is the x cord of the base/warehouse
 totes ; totes is totes the number of drones
 drone-Count ; needed for the number of drones begining deliveries
 ATMS;
 locX; used for kink ATMS
 locY; used for kink ATMS
 ;maxDrones ; slider can be used to set the max number of drones
 curDrones  ; number of drones in the air currently
 flightTime ; total flight time
 flightTotes ; cause locals dont work,, groan
 
 ;;truck globals
 truck-Count
 truckTotes
 curTrucks
 
]

;setup method called on setup button pressed

to setup
  clear-all
  set flightTime 0;
  set curDrones 0
  setup-patches
  set-default-shape houses "house"
  set-default-shape trucks "truck" 
  set totes 1
  ;; CREATE-ORDERED- distributes the houses evenly
  create-houses number-of-houses
    [ setxy random-xcor random-ycor
      fd max-pxcor 
      ]
   set-default-shape warehouses "bug"
   
   create-warehouses 1
   [setxy random-xcor random-ycor
      fd max-pxcor 
      
      ] 
    ask warehouses[
      set baseY ycor
      set baseX xcor
      ]
   
   ;create-drones number-of-drones [
   ; setxy random-xcor random-ycor
   ; set color red
   ; set destination one-of houses
   ; set load-status "en-route"
   ; set takeoff-status false
   ; face destination
   ; set collision false
   ; ;give an arbitrary height for now
   ; set chance random 5
   ; set altitude chance * 100
   ; set secondary false
  ;]
   set ATMS true; 
  reset-ticks
end 


;;reset drones on the warehouse

to reset-drones
  set totes 1 ; I'm making it one to avoid the divide by zero error.  *****************************ALL FINAL CALCS MUST ACCOUNT FOR TGIS or not cause 
  set collision-count 0
  set flightTime 0
  ask drones[die] 
  
  set curDrones 0
  reset-ticks
end 

;;sets up patches, called from setup method

to setup-patches
  ask patches[set pcolor green]
end 

;this method uses the delivery frequency to randomly have houses make a request form the warehouse. 
;and by that I mean that the percent is used to caluclalate a number of houses going to request and then a corespondinng number of drones are made
;make-Drones creates the requested number of drones with a random house as a destination
;also checks if the maxDroneOnIsOne is one to see if there is a limit to the number of drones
;the no limit is most useful to see the general movement pattern of a DP

to request-delivery
  set drone-Count 0
  ask houses[
    set chance random 10000
    if-else maxDroneOnIsOne = 1[
    if houseFrequency > chance and curDrones < maxDrones[
      set drone-Count drone-Count + 1
      ;set curDrones curDrones + 1
    ]]
  ;else maxDroneOnIsOne is not one, so there is no drone limit
  [
     if houseFrequency > chance [
      set drone-Count drone-Count + 1
      ;set curDrones curDrones + 1
    ]]
  ]
  set totes drone-Count + totes ; set the total number of drones
  make-Drones
end   

to make-Drones
  set curDrones curDrones + drone-Count ; this sets the current num
  create-drones drone-Count [
        set xcor baseX 
        set ycor baseY 
        set color red
   ; set destination one-of houses
    set load-status "en-route"
    set takeoff-status false
   ; face destination
    set collision false
   ; ;give an arbitrary height for now
    set chance random 5
    set altitude chance * 100
    set secondary false
        set destination one-of houses
        face destination
       
    set dsp random 3
    set dsp dsp * 10   
       ]
end 

to countFlight
  ;each drone flying will add a flight time
  ;beware, flight time will be better for a network where lots of drones crash, as they wil stop flying. This statistic is deceptive
  set flightTotes 0
  ask drones[
    set flightTotes flightTotes + 1
    
    ]
  set flightTime flightTotes + flightTime
end 

;;Below is the most basic Drone Protocol strategy, using randomly assigned flight altitudes. There are 5 options. 100, 200, 300, 400 and 500 ft. GPS altitude accuracy is within this slot system
;;When a new altitude is randomly selected at takeoff from warehouse, over time all aircraft will ALWAYS crash (except if there is an odd number)

to go
  countFlight
  request-delivery
  ask drones[
    ;; if at target, either return home or go to new house
    if distance destination = 0 
     
      [ set takeoff-status true
        
        set balogna  true
        ;if you are at your destination and returning, the drone is done delvering,, die and decrease count
        if load-status = "return"
        [
        die
        set curDrones curDrones - 1 ;
        ]
        if load-status = "en-route" and balogna = true
        [
        set color black
        set destination one-of warehouses
        face destination
        set load-status "return"
        fd 2
      
         ]
       ]

    ;; move towards target.  once the distance is more than 1,
    ;; use move-to to land exactly on the target.
    if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        fd 1
        ]
      
      ;;check for collisons btwn other drones if the drones have not landed
      ;set global LastPos to current patch and collision to false. If this patch
      set collision false
      set LastPos patch-here 
      set alt altitude 
      set colCount  0
      if count drones-here > 1[
        ask drones [
          if patch-here = LastPos and alt = altitude[
            set colCount colCount + 1]
          if colCount > 1[
            set collision true
            
            ]
          ]
        ]   
      if collision = true[
      set collision-count collision-count + 1
      ask drones[
        if patch-here =  LastPos and altitude = alt[
         die ]]]
     
  ]
  tick
end 



;This is a simple routing strategy for drones. Drones traveling "East", or 0 to 180 degrees, will fly at 200 ft, drones with routes above 180 degrees wil be at 400
;The main issue here is that drones aproaching the warehouse crash as they converge. A routing system to bring them to the warehouse in a convieient fashion is needed

to goSimpleRouting
  countFlight
  request-delivery
  ask drones[
    ;set altitude based off heading, if going mostly east cruise at 200, if west cruise 400
    if-else heading <= 180[set altitude 200][set altitude 400]
    ;; if at target, either return home or go to new house
    if distance destination = 0 
    
      [ set takeoff-status true
        
        set balogna  true
        if load-status = "return"
        [
       die
       
        set curDrones curDrones - 1 ;
        ]
        if load-status = "en-route" and balogna = true
        [
        set color black
        set destination one-of warehouses
        face destination
        set load-status "return"
        fd 2
      
         ]
       ]

    ;; move towards target.  once the distance is more than 1,
    ;; use move-to to land exactly on the target.
    if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        fd 1
        ]
      
      ;;check for collisons btwn other drones if the drones have not landed
      ;set global LastPos to current patch and collision to false. If this patch
      set collision false
      set LastPos patch-here 
      set alt altitude 
      set colCount  0
      if count drones-here > 1[
        ask drones [
          if patch-here = LastPos and alt = altitude[
            set colCount colCount + 1]
          if colCount > 1[
            set collision true
            
            ]
          ]
        ]   
      if collision = true[
      set collision-count collision-count + 1
      ask drones[
        if patch-here =  LastPos and altitude = alt[
         die ]]]
     
  ]
  tick
end 


;;this is an autonomous routing DP where drones deliver to their destination in a direct fashion, flying at 200 if going east and 400 at west
;when they are returning to the warehouse however, they can only fly directly North or South until they reach the latitude (x axis) of the warehouse. North at 100, South 300
;When they reach the latitude of their home base they will turn to it, returning to the east/west altitude 

to goNSReturnRouting
  countFlight
  request-delivery
  ask drones[
    ;if delivering, set altitude based off heading, if going mostly east cruise at 200, if west cruise 400
    if load-status = "en-route"[
    if-else heading <= 180[set altitude 200][set altitude 400]]
    ;; if at target, either return home or go to new house
    if distance destination = 0 
    
      [ set takeoff-status true
        
        set balogna  true
        if load-status = "return"
        [
       die
      
        set curDrones curDrones - 1 ;
        ]
        if load-status = "en-route" and balogna = true
        [
        set color black
        set destination one-of warehouses
        face destination
        ;;this sets a north direction if the drone needs to go north
        if heading < 90 or heading > 270[set heading 0
          set altitude 100]
        ;;this sets a southern direction if the drone needs to go south
        if heading > 90 and heading < 270[set heading 180
          set altitude 300]
        set load-status "return"
        fd 2
      
         ]
       ]

    ;; move towards target directly if en-route n if the distance is more than 1,
    ;; use move-to to land exactly on the target.
    if-else load-status = "en-route"[
    if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        fd 1
        ]
    ] 
    ;else this is return, check if on latutude of warehouse n turn to face it if u are
    [
      
      if-else abs (ycor - baseY) < 1
      [face destination
        if-else heading <= 180[set altitude 200][set altitude 400]
        
            if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        fd 1
        ]]
      ;else return to N/S
      [
        if heading < 90 or heading > 270[set heading 0]
        ;;this sets a southern direction if the drone needs to go south
        if heading > 90 and heading < 270[set heading 180]
            if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
 
      
      if distance destination >= 1
      [
        fd 1
        ]
        ]
      ]
    
      ;;check for collisons btwn other drones if the drones have not landed
      ;set global LastPos to current patch and collision to false. If this patch
      set collision false
      set LastPos patch-here 
      set alt altitude 
      set colCount  0
      if count drones-here > 1[
        ask drones [
          if patch-here = LastPos and alt = altitude[
            set colCount colCount + 1]
          if colCount > 1[
            set collision true
            
            ]
          ]
        ]   
      if collision = true[
      set collision-count collision-count + 1
      ask drones[
        if patch-here =  LastPos and altitude = alt[
         die ]]]
     
  ]
  tick
end 



;;this is a method that uses 4 quadrants to route drones
;yessssss
;it happens to form a symbol that is very triggering to a great deal of people

to goNSEWReturnRouting
  countFlight
  request-delivery
  ask drones[
    ;if delivering, set altitude based off heading, if going mostly east cruise at 200, if west cruise 400
    if load-status = "en-route"[
    if-else heading <= 180[set altitude 200][set altitude 400]
    
    ]
    ;; if at target, either return home or go to new house
    if distance destination = 0 
    
      [ set takeoff-status true
        
        set balogna  true
        if load-status = "return"
        [
          
        set curDrones curDrones - 1 ;
        die
        ]
        if load-status = "en-route" and balogna = true
        [
        set color black
        set destination one-of warehouses
        face destination
        
        
        ;this would be a great time for an if else else else statement but netlogo is totally weak sometimes
        ;;if heading is less than 90, then it is in lower left queadrant,, go east than north
        if heading < 90  ;
        [set heading 90
         set altitude 200
         set secondary true] 
        ;;if drone is in top left quadrant w/ heading greater than 90 but less than 180, go south than east
        if heading >= 90 and heading < 180 and secondary = false[set heading 180
          set altitude 300
          set secondary true]
        ;;if in the top righ quarant go west than south
        if heading >= 180 and heading < 270 and secondary = false[
          set heading 270
          set altitude 400
          set secondary true
          ]
        ;if in bottom right, go north than west
        if heading >= 270 and secondary = false[
          set heading 0
          set altitude 100
          set secondary true
          ]
        set load-status "return"
       ; fd 2
      
         ]
       ]

    ;; move towards target directly if en-route n if the distance is more than 1,
    ;; use move-to to land exactly on the target.
    if-else load-status = "en-route"[
    if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        fd 1
        ]
    ]
    ;else this is return, check if on latutude/longitude of warehouse n turn to face it
    [
      ;;if u are in vicinity of warehouse turn to 
      if-else abs (ycor - baseY) < .5 or abs (xcor - baseX) < .5
      [face destination
        ;;now the drone is in the second leg
        ;;its heading should be set perfectly so set altitude accordingly
        if abs (heading - 90) < 5 [set altitude 200]
        if abs (heading - 180) < 5[set altitude 300]
        if abs (heading - 270) < 5 [set altitude 400]
        if heading < 5 or abs (heading - 360) < 5[set altitude 100]
        
            if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        fd 1
        ]]
      ;else return to N/S NOT NEEDED>>????
      [
        ;if heading < 90 or heading > 270[set heading 0]
        ;;this sets a southern direction if the drone needs to go south
        ;if heading > 90 and heading < 270[set heading 180]
            if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        fd 1
        ]
        ]
      ]
    
      ;;check for collisons btwn other drones if the drones have not landed
      ;set global LastPos to current patch and collision to false. If this patch
      set collision false
      set LastPos patch-here 
      set alt altitude 
      set colCount  0
      if count drones-here > 1[
        ask drones [
          if patch-here = LastPos and alt = altitude[
            set colCount colCount + 1]
          if colCount > 1[
            set collision true
            
            ]
          ]
        ]   
      if collision = true[
      set collision-count collision-count + 1
      ask drones[
        if patch-here =  LastPos and altitude = alt[
         die ]]]
     
  ]
  tick
end 

to goNSReturnRoutingDP
  countFlight
  request-delivery
  ask drones[
    ;if delivering, set altitude based off heading, if going mostly east cruise at 200, if west cruise 400
    if load-status = "en-route"[
    if-else heading <= 180[set altitude 200][set altitude 400]]
    ;; if at target, either return home or go to new house
    if distance destination = 0 
    
      [ set takeoff-status true
        
        set balogna  true
        if load-status = "return"
        [
        set color red
        set load-status "en-route"
        set destination one-of houses
        face destination 
        set balogna  false
        
        fd 2
      
        ]
        if load-status = "en-route" and balogna = true
        [
        set color black
        set destination one-of warehouses
        face destination
        ;;this sets a north direction if the drone needs to go north
        if heading < 90 or heading > 270[set heading 0
          set altitude 100]
        ;;this sets a southern direction if the drone needs to go south
        if heading > 90 and heading < 270[set heading 180
          set altitude 300]
        set load-status "return"
        fd 2
      
         ]
       ]

    ;; move towards target directly if en-route n if the distance is more than 1,
    ;; use move-to to land exactly on the target.
    if-else load-status = "en-route"[
    if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        fd 1
        ]
    ]
    ;else this is return, check if on latutude of warehouse n turn to face it
    [
      
      if-else abs (ycor - baseY) < 1
      [face destination
        if-else heading <= 180[set altitude 200][set altitude 400]
        
            if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        fd 1
        ]]
      ;else return to N/S
      [
        if heading < 90 or heading > 270[set heading 0]
        ;;this sets a southern direction if the drone needs to go south
        if heading > 90 and heading < 270[set heading 180]
            if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        fd 1
        ]
        ]
      ]
    
      ;;check for collisons btwn other drones if the drones have not landed
      ;set global LastPos to current patch and collision to false. If this patch
      set collision false
      set LastPos patch-here 
      set alt altitude 
      set colCount  0
      if count drones-here > 1[
        ask drones [
          if patch-here = LastPos and alt = altitude[
            set colCount colCount + 1]
          if colCount > 1[
            set collision true
            
            ]
          ]
        ]   
      if collision = true[
      set collision-count collision-count + 1
      ask drones[
        if patch-here =  LastPos and altitude = alt[
         die ]]]
     
  ]
  tick
end 

;;different from other NSEW routing due to the ATMS, which prevents collisions when enetering the landing pattern

to ATMSgoNSEWReturnRouting
  countFlight
  request-delivery
  ask drones[
    ;if delivering, set altitude based off heading, if going mostly east cruise at 200, if west cruise 400
    if load-status = "en-route"[
    if-else heading <= 180[set altitude 200][set altitude 400]
    
    ]
    ;; if at target, either return home or go to new house
    if distance destination = 0 
    
      [ set takeoff-status true
        
        set balogna  true
        if load-status = "return"
        [
          
        set curDrones curDrones - 1 ;
        die
        ]
        if load-status = "en-route" and balogna = true
        [
        set color black
        set destination one-of warehouses
        face destination
        
        
        ;this would be a great time for an if else else else statement but netlogo is totally weak sometimes
        ;;if heading is less than 90, then it is in lower left queadrant,, go east than north
        if heading < 90  ;
        [set heading 90
         set altitude 200
         set secondary true] 
        ;;if drone is in top left quadrant w/ heading greater than 90 but less than 180, go south than east
        if heading >= 90 and heading < 180 and secondary = false[set heading 180
          set altitude 300
          set secondary true]
        ;;if in the top righ quarant go west than south
        if heading >= 180 and heading < 270 and secondary = false[
          set heading 270
          set altitude 400
          set secondary true
          ]
        ;if in bottom right, go north than west
        if heading >= 270 and secondary = false[
          set heading 0
          set altitude 100
          set secondary true
          ]
        set load-status "return"
       ; fd 2
      
         ]
       ]

    ;; move towards target directly if en-route n if the distance is more than 1,
    ;; use move-to to land exactly on the target.
    if-else load-status = "en-route"[
    if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        fd 1
        ]
    ]
    ;else this is return, check if on latutude/longitude of warehouse n turn to face it
    [
      ;;if u are in vicinity of warehouse turn to 
      if-else abs (ycor - baseY) < .5 or abs (xcor - baseX) < .5
      [face destination
        ;;now the drone is in the second leg
        ;;its heading should be set perfectly so set altitude accordingly
        if abs (heading - 90) < 5 [set altitude 200]
        if abs (heading - 180) < 5[set altitude 300]
        if abs (heading - 270) < 5 [set altitude 400]
        if heading < 5 or abs (heading - 360) < 5[set altitude 100]
        
            if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        fd 1
        ]]
      ;else return to N/S NOT NEEDED>>????
      [
        ;if heading < 90 or heading > 270[set heading 0]
        ;;this sets a southern direction if the drone needs to go south
        ;if heading > 90 and heading < 270[set heading 180]
            if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        set ATMS true;
        ;;only move forward if no drone is on the landing route 
        ask patch-ahead 1 [if count drones-here > 0[set ATMS false] ]
    
        if ATMS = true [fd 1]
        ]
        ]
      ]
    
      ;;check for collisons btwn other drones if the drones have not landed
      ;set global LastPos to current patch and collision to false. If this patch
      set collision false
      set LastPos patch-here 
      set alt altitude 
      set colCount  0
      if count drones-here > 1[
        ask drones [
          if patch-here = LastPos and alt = altitude[
            set colCount colCount + 1]
          if colCount > 1[
            set collision true
            
            ]
          ]
        ]   
      if collision = true[
      set collision-count collision-count + 1
      ask drones[
        if patch-here =  LastPos and altitude = alt[
         die ]]]
     
  ]
  tick
end 



;this method gets a lil kinky tbh fam
;breeding and dying drones and returning drones all over the place
;which is neccessary for the returning drones to distinguish 
;;different from other NSEW routing due to the ATMS, which prevents collisions when enetering the landing pattern

to MultiATMSgoNSEWReturnRouting
  request-delivery
  ask drones[
    ;if delivering, set altitude based off heading, if going mostly east cruise at 200, if west cruise 400
    if load-status = "en-route"[
    if-else heading <= 180[set altitude 200][set altitude 400]
    
    ]
    ;; if at target, either return home or go to new house
    if distance destination = 0 
    
      [ set takeoff-status true
        
        set balogna  true
        if load-status = "return"
        [
          
        set curDrones curDrones - 1 ;
        die
        ]
        if load-status = "en-route" and balogna = true
        [
        set color black
        set destination one-of warehouses
        face destination
        
        
        ;this would be a great time for an if else else else statement but netlogo is totally weak sometimes
        ;;if heading is less than 90, then it is in lower left queadrant,, go east than north
        if heading < 90  ;
        [set heading 90
         set altitude 200
         set secondary true] 
        ;;if drone is in top left quadrant w/ heading greater than 90 but less than 180, go south than east
        if heading >= 90 and heading < 180 and secondary = false[set heading 180
          set altitude 300
          set secondary true]
        ;;if in the top righ quarant go west than south
        if heading >= 180 and heading < 270 and secondary = false[
          set heading 270
          set altitude 400
          set secondary true
          ]
        ;if in bottom right, go north than west
        if heading >= 270 and secondary = false[
          set heading 0
          set altitude 100
          set secondary true
          ]
        set load-status "return"
       ; fd 2
      
         ]
       ]

    ;; move towards target directly if en-route n if the distance is more than 1,
    ;; use move-to to land exactly on the target.
    if-else load-status = "en-route"[
    if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        fd 1
        ]
    ]
    ;else this is return, check if on latutude/longitude of warehouse n turn to face it
    [
      ;;if u are in vicinity of warehouse turn to 
      if-else abs (ycor - baseY) < .5 or abs (xcor - baseX) < .5
      [face destination
        ;;now the drone is in the second leg
        ;;its heading should be set perfectly so set altitude accordingly
        if abs (heading - 90) < 5 [set altitude 200]
        if abs (heading - 180) < 5[set altitude 300]
        if abs (heading - 270) < 5 [set altitude 400]
        if heading < 5 or abs (heading - 360) < 5[set altitude 100]
        
            if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        fd 1
        ]]
      ;else return to N/S NOT NEEDED>>????
      [
        ;if heading < 90 or heading > 270[set heading 0]
        ;;this sets a southern direction if the drone needs to go south
        ;if heading > 90 and heading < 270[set heading 180]
            if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        set ATMS true;
        ;;only move forward if no drone is on the landing route directly in front
        ;this method is more hardocre in avoidance and checks up to 3 patches ahead
        ask patch-ahead 1 [if count drones-here > 0[set ATMS false] ]
        ask patch-ahead 2 [if count drones-here > 0[set ATMS false] ]
        ask patch-ahead 3 [if count drones-here > 0[set ATMS false] ]
        ;check to the left and right, for drones and avoid if they are there
        ;doing a vairety of precautions to be safe
        ask patch-left-and-ahead 45 1[if count drones-here > 0 [set ATMS false]]
        ask patch-left-and-ahead 45 2[if count drones-here > 0 [set ATMS false]]
        ask patch-left-and-ahead 15 1[if count drones-here > 0 [set ATMS false]]
        ask patch-left-and-ahead 15 2[if count drones-here > 0 [set ATMS false]]
        ask patch-left-and-ahead 60 1[if count drones-here > 0 [set ATMS false]]
        ask patch-left-and-ahead 60 2[if count drones-here > 0 [set ATMS false]]

        ask patch-right-and-ahead 45 1[if count drones-here > 0 [set ATMS false]]
        ask patch-right-and-ahead 45 2[if count drones-here > 0 [set ATMS false]]
        ask patch-right-and-ahead 15 1[if count drones-here > 0 [set ATMS false]]
        ask patch-right-and-ahead 15 2[if count drones-here > 0 [set ATMS false]]
        ask patch-right-and-ahead 60 1[if count drones-here > 0 [set ATMS false]]
        ask patch-right-and-ahead 60 2[if count drones-here > 0 [set ATMS false]]
        if ATMS = true [fd 1]
        ]
        ]
      ]
    
      ;;check for collisons btwn other drones if the drones have not landed
      ;set global LastPos to current patch and collision to false. If this patch
      set collision false
      set LastPos patch-here 
      set alt altitude 
      set colCount  0
      if count drones-here > 1[
        ask drones [
          if patch-here = LastPos and alt = altitude[
            set colCount colCount + 1]
          if colCount > 1[
            set collision true
            
            ]
          ]
        ]   
      if collision = true[
      set collision-count collision-count + 1
      ask drones[
        if patch-here =  LastPos and altitude = alt[
         die ]]]
     
  ]
  tick
end 


;this method gets a lil kinky tbh fam
;breeding and dying drones and returning drones all over the place
;which is neccessary for the returning drones to distinguish 
;;different from other NSEW routing due to the ATMS, which prevents collisions when enetering the landing pattern
;the reason i think it is ok to use two types of turtles is that the differing flight heights should preclude a situation where counting the turtles in front and checking for collisions 

to kinkyATMSgoNSEWReturnRouting
  countFlight
  request-delivery
  ask drones[
    ;if delivering, set altitude based off heading, if going mostly east cruise at 200, if west cruise 400
    if load-status = "en-route"[
    if-else heading <= 180[set altitude 200][set altitude 400]
    
    ]
    ;; if at target, either return home or go to new house
    if distance destination = 0 
    
      [ set takeoff-status true
        
        set balogna  true
        if load-status = "return"
        [
          
        set curDrones curDrones - 1 ;
        die
        ]
        if load-status = "en-route" and balogna = true
        [
          
          ;;heres where its gettin kinky
        set locX xcor
        set locY ycor
        ;since we cant create turtles from inside the turtle context, call a method that will do it now that we have locX, locY
        
        
        
        set color black
        set destination one-of warehouses
        face destination
        
        
        ;this would be a great time for an if else else else statement but netlogo is totally weak sometimes
        ;;if heading is less than 90, then it is in lower left queadrant,, go east than north
        if heading < 90  ;
        [set heading 90
         set altitude 200
         set secondary true] 
        ;;if drone is in top left quadrant w/ heading greater than 90 but less than 180, go south than east
        if heading >= 90 and heading < 180 and secondary = false[set heading 180
          set altitude 300
          set secondary true]
        ;;if in the top righ quarant go west than south
        if heading >= 180 and heading < 270 and secondary = false[
          set heading 270
          set altitude 400
          set secondary true
          ]
        ;if in bottom right, go north than west
        if heading >= 270 and secondary = false[
          set heading 0
          set altitude 100
          set secondary true
          ]
        set load-status "return"
       ; fd 2
      
         ]
       ]

    ;; move towards target directly if en-route n if the distance is more than 1,
    ;; use move-to to land exactly on the target.
    if-else load-status = "en-route"[
    if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        fd 1
        ]
    ]
    ;else this is return, check if on latutude/longitude of warehouse n turn to face it
    [
      ;;if u are in vicinity of warehouse turn to 
      if-else abs (ycor - baseY) < .5 or abs (xcor - baseX) < .5
      [face destination
        ;;now the drone is in the second leg
        ;;its heading should be set perfectly so set altitude accordingly
        if abs (heading - 90) < 5 [set altitude 200]
        if abs (heading - 180) < 5[set altitude 300]
        if abs (heading - 270) < 5 [set altitude 400]
        if heading < 5 or abs (heading - 360) < 5[set altitude 100]
        
            if distance destination < 1
      [ 
        ;added 4 comp
        die
        set curDrones curDrones - 1
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        fd 1
        ]]
      ;else return to N/S NOT NEEDED>>????
      [
        ;if heading < 90 or heading > 270[set heading 0]
        ;;this sets a southern direction if the drone needs to go south
        ;if heading > 90 and heading < 270[set heading 180]
            if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        let curDrone self
        set ATMS true;
        ;;only move forward if no drone is on the landing route directly in front
        ;this method is more hardocre in avoidance and checks up to 3 patches ahead
        ask patch-ahead 1 [if count drones-here > 0[set ATMS false] ]
        ask patch-ahead 2 [if count drones-here > 0[set ATMS false] ]
        ask patch-ahead 3 [if count drones-here > 0[set ATMS false] ]
        ;check to the left and right, for drones and avoid if they are there
        ;doing a vairety of precautions to be safe
       ; ask patch-left-and-ahead 45 1[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ;ask patch-left-and-ahead 45 2[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ;ask patch-left-and-ahead 15 1[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
       ; ask patch-left-and-ahead 15 2[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ;ask patch-left-and-ahead 60 1[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ;ask patch-left-and-ahead 60 2[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]

        ask patch-right-and-ahead 45 1[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ask patch-right-and-ahead 45 2[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ask patch-right-and-ahead 15 1[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ask patch-right-and-ahead 15 2[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ask patch-right-and-ahead 60 1[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ask patch-right-and-ahead 60 2[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ask patch-right-and-ahead 75 1[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ask patch-right-and-ahead 75 2[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ask patch-right-and-ahead 90 1[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ask patch-right-and-ahead 90 2[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ask patch-right-and-ahead 90 3[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]] 
        
        if ATMS = true [fd 1]
        ]
        ]
      ]
    
      ;;check for collisons btwn other drones if the drones have not landed
      ;set global LastPos to current patch and collision to false. If this patch
      set collision false
      set LastPos patch-here 
      set alt altitude 
      set colCount  0
      if count drones-here > 1[
        ask drones [
          if patch-here = LastPos and alt = altitude[
            set colCount colCount + 1]
          if colCount > 1[
            set collision true
            
            ]
          ]
        ]   
      if collision = true[
      set collision-count collision-count + 1
      ask drones[
        if patch-here =  LastPos and altitude = alt[
         die ]]]
     
  ]
  tick
end 

;;helper method to avoid context for the kinky DP

to makeRtDrone
    create-rtDrones 1 [
        set xcor locX 
        set ycor locY 
        set color black
   ; set destination one-of houses
    set load-status "return"
    set takeoff-status false
   ; face destination
    set collision false
   ; ;give an arbitrary height for now
    set chance random 5
    set altitude chance * 100
    set secondary false
        set destination one-of warehouses
        face destination
       ]
end 



;;this is a method that uses 4 quadrants to route drones
;yessssss
;it happens to form a symbol that is very triggering to a great deal of people

to StochgoNSEWReturnRouting
  countFlight
  request-delivery
  ask drones[
    ;if delivering, set altitude based off heading, if going mostly east cruise at 200, if west cruise 400
    if load-status = "en-route"[
    if-else heading <= 180[set altitude 200 + dsp][set altitude 400 + dsp]
    
    ]
    ;; if at target, either return home or go to new house
    if distance destination = 0 
    
      [ set takeoff-status true
        
        set balogna  true
        if load-status = "return"
        [
          
        set curDrones curDrones - 1 ;
        die
        ]
        if load-status = "en-route" and balogna = true
        [
        set color black
        set destination one-of warehouses
        face destination
        
        
        ;this would be a great time for an if else else else statement but netlogo is totally weak sometimes
        ;;if heading is less than 90, then it is in lower left queadrant,, go east than north
        if heading < 90  ;
        [set heading 90
         set altitude 200 + dsp
         set secondary true] 
        ;;if drone is in top left quadrant w/ heading greater than 90 but less than 180, go south than east
        if heading >= 90 and heading < 180 and secondary = false[set heading 180
          set altitude 300 + dsp
          set secondary true]
        ;;if in the top righ quarant go west than south
        if heading >= 180 and heading < 270 and secondary = false[
          set heading 270
          set altitude 400 + dsp
          set secondary true
          ]
        ;if in bottom right, go north than west
        if heading >= 270 and secondary = false[
          set heading 0
          set altitude 100 + dsp
          set secondary true
          ]
        set load-status "return"
       ; fd 2
      
         ]
       ]

    ;; move towards target directly if en-route n if the distance is more than 1,
    ;; use move-to to land exactly on the target.
    if-else load-status = "en-route"[
    if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        fd 1
        ]
    ]
    ;else this is return, check if on latutude/longitude of warehouse n turn to face it
    [
      ;;if u are in vicinity of warehouse turn to 
      if-else abs (ycor - baseY) < .5 or abs (xcor - baseX) < .5
      [face destination
        ;;now the drone is in the second leg
        ;;its heading should be set perfectly so set altitude accordingly
        if abs (heading - 90) < 5 [set altitude 200 + dsp]
        if abs (heading - 180) < 5[set altitude 300 + dsp]
        if abs (heading - 270) < 5 [set altitude 400 + dsp]
        if heading < 5 or abs (heading - 360) < 5[set altitude 100 + dsp]
        
            if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        fd 1
        ]]
      ;else return to N/S NOT NEEDED>>????
      [
        ;if heading < 90 or heading > 270[set heading 0]
        ;;this sets a southern direction if the drone needs to go south
        ;if heading > 90 and heading < 270[set heading 180]
            if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        fd 1
        ]
        ]
      ]
    
      ;;check for collisons btwn other drones if the drones have not landed
      ;set global LastPos to current patch and collision to false. If this patch
      set collision false
      set LastPos patch-here 
      set alt altitude 
      set colCount  0
      if count drones-here > 1[
        ask drones [
          if patch-here = LastPos and alt = altitude[
            set colCount colCount + 1]
          if colCount > 1[
            set collision true
            
            ]
          ]
        ]   
      if collision = true[
      set collision-count collision-count + 1
      ask drones[
        if patch-here =  LastPos and altitude = alt[
         die ]]]
     
  ]
  tick
end 



;;different from other NSEW routing due to the ATMS, which prevents collisions when enetering the landing pattern

to stochATMSgoNSEWReturnRouting
  countFlight
  request-delivery
  ask drones[
    ;if delivering, set altitude based off heading, if going mostly east cruise at 200, if west cruise 400
    if load-status = "en-route"[
    if-else heading <= 180[set altitude 200 + dsp][set altitude 400 + dsp]
    
    ]
    ;; if at target, either return home or go to new house
    if distance destination = 0 
    
      [ set takeoff-status true
        
        set balogna  true
        if load-status = "return"
        [
          
        set curDrones curDrones - 1 ;
        die
        ]
        if load-status = "en-route" and balogna = true
        [
        set color black
        set destination one-of warehouses
        face destination
        
        
        ;this would be a great time for an if else else else statement but netlogo is totally weak sometimes
        ;;if heading is less than 90, then it is in lower left queadrant,, go east than north
        if heading < 90  ;
        [set heading 90
         set altitude 200 + dsp
         set secondary true] 
        ;;if drone is in top left quadrant w/ heading greater than 90 but less than 180, go south than east
        if heading >= 90 and heading < 180 and secondary = false[set heading 180
          set altitude 300 + dsp
          set secondary true]
        ;;if in the top righ quarant go west than south
        if heading >= 180 and heading < 270 and secondary = false[
          set heading 270
          set altitude 400 + dsp
          set secondary true
          ]
        ;if in bottom right, go north than west
        if heading >= 270 and secondary = false[
          set heading 0
          set altitude 100 + dsp
          set secondary true
          ]
        set load-status "return"
       ; fd 2
      
         ]
       ]

    ;; move towards target directly if en-route n if the distance is more than 1,
    ;; use move-to to land exactly on the target.
    if-else load-status = "en-route"[
    if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        fd 1
        ]
    ]
    ;else this is return, check if on latutude/longitude of warehouse n turn to face it
    [
      ;;if u are in vicinity of warehouse turn to 
      if-else abs (ycor - baseY) < .5 or abs (xcor - baseX) < .5
      [face destination
        ;;now the drone is in the second leg
        ;;its heading should be set perfectly so set altitude accordingly
        if abs (heading - 90) < 5 [set altitude 200]
        if abs (heading - 180) < 5[set altitude 300]
        if abs (heading - 270) < 5 [set altitude 400]
        if heading < 5 or abs (heading - 360) < 5[set altitude 100 + dsp]
        
            if distance destination < 1
      [ 
        
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        fd 1
        ]]
      ;else return to N/S NOT NEEDED>>????
      [
        ;if heading < 90 or heading > 270[set heading 0]
        ;;this sets a southern direction if the drone needs to go south
        ;if heading > 90 and heading < 270[set heading 180]
            if distance destination < 1
      [ 
        if load-status  = "return"[
          
        set curDrones curDrones - 1 ;
          die]
        move-to destination
        
        
        ]
      
      if distance destination >= 1
      [
        let curDrone self
        set ATMS true;
        ;;only move forward if no drone is on the landing route 
        ask patch-ahead 1 [if count drones-here > 0[set ATMS false] ]
        ask patch-ahead 2  [if count drones-here > 0[set ATMS false] ]
        ask patch-right-and-ahead 45 1[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ask patch-right-and-ahead 45 2[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ask patch-right-and-ahead 15 1[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ask patch-right-and-ahead 15 2[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ask patch-right-and-ahead 60 1[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ask patch-right-and-ahead 60 2[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ask patch-right-and-ahead 75 1[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ask patch-right-and-ahead 75 2[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ask patch-right-and-ahead 90 1[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ask patch-right-and-ahead 90 2[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]]
        ask patch-right-and-ahead 90 3[if count drones-here with [altitude = [altitude] of curDrone] > 0 [set ATMS false]] 
        if ATMS = true [fd 1]
        ]
        ]
      ]
    
      ;;check for collisons btwn other drones if the drones have not landed
      ;set global LastPos to current patch and collision to false. If this patch
      set collision false
      set LastPos patch-here 
      set alt altitude 
      set colCount  0
      if count drones-here > 1[
        ask drones [
          if patch-here = LastPos and alt = altitude[
            set colCount colCount + 1]
          if colCount > 1[
            set collision true
            
            ]
          ]
        ]   
      if collision = true[
      set collision-count collision-count + 1
      ask drones[
        if patch-here =  LastPos and altitude = alt[
         die ]]]
     
  ]
  tick
end 


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;This is the truck Stuff my partner was supposed to make
; it is near completion, but commented out because I did not finish it and it makes everything more complicated

;I have made an analog to a truck delivery method
;to goTruck
  
 ; request-truck-delivery
  ;ask trucks[
   ; ;; if at target, either return home or go to new house
    ;if distance destination = 0 
     ; [ set takeoff-status true
      ;  
       ; set balogna  true
        ;;if you are at your destination and returning, the drone is done delvering,, die and decrease count
        ;if load-status = "return"
        ;[
        ;die
        ;set curDrones curDrones - 1 ;
;        ]
  ;      if load-status = "en-route" and balogna = true
 ;       [
;        set color black
 ;       set destination one-of warehouses
  ;      face destination
   ;     set load-status "return"
    ;    fd 2
     ; 
      ;   ]
       ;]

    ;; move towards target.  once the distance is more than 1,
    ;; use move-to to land exactly on the target.
;    if distance destination < 1
 ;     [ 
  ;      
   ;     move-to destination
    ;    
     ;   
      ;  ]
      
      ;if distance destination >= 1
;      [
 ;       face destination
  ;      
   ;     fd 1
    ;    ]
;      
 ; 
  ;   
  ;]
  ;tick
;end




;to request-truck-delivery
  ;-Count 0
 ; ask houses[
  ;  set chance random 10000
    
 ;   if-else maxTruckIsOne = 1[
  ;  if houseFrequency > chance and curTrucks < maxTrucks[
   ;   set truck-Count truck-Count + 1
    ;  set curTrucks curTrucks + 1
;    ]]
  ;else maxDroneOnIsOne is not one, so there is no drone limit
 ; [
   ;  if houseFrequency > chance [
  ;    set truck-Count truck-Count + 1
    ;  set curTrucks curTrucks + 1
;    ]]
 ; ]
  ;set TruckTotes truck-Count + Trucktotes ; set the total number of Trucks
;  make-Trucks
  
;end  

;to make-Trucks
 ; set curTrucks curTrucks + truck-Count ; this sets the current num
  ;create-trucks truck-Count [
   ;     set xcor baseX 
    ;    set ycor baseY 
     ;   set color red
   ; set destination one-of houses
;    set load-status "en-route"
 ;   set takeoff-status false
   ; face destination
    ;set collision false
   ; ;give an arbitrary height for now
    ;set chance random 5
    ;set altitude chance * 100
    ;set secondary false
  ;   set destination one-of houses
   ;  face destination
       
    ;s;et dsp random 3
    ;set dsp dsp * 10   
   ;    ]
;end;