N@Centeralized Teleporting Collector Controller
I@GPSSync Targ1 Targ2 Targ3 Targ4 A B C D 
O@New1 New2 New3 New4 Channel1 Channel2 Channel3 H1 H2 H3 H4 Drones
interval(50)
Channel1=-100
Channel2=-101
Channel3=-102
XTar1=recv(Targ1,1),YTar1=recv(Targ1,2),ZTar1=recv(Targ1,3)
XTar2=recv(Targ2,1),YTar2=recv(Targ2,2),ZTar2=recv(Targ2,3)
XTar3=recv(Targ3,1),YTar3=recv(Targ3,2),ZTar3=recv(Targ3,3)
XTar4=recv(Targ4,1),YTar4=recv(Targ4,2),ZTar4=recv(Targ4,3)
XG=recv(GPSSync,1),YG=recv(GPSSync,2),ZG=recv(GPSSync,3)
Rad=60
Zoff=130
New1=New2=New3=New4=0
H1=H2=H3=H4=1
inrange(XTar1,XG-Rad,XG+Rad) & inrange(YTar1,YG-Rad,YG+Rad) &
inrange(ZTar1,ZG-Rad,ZG+Zoff) -> New1=1,H1=0;
inrange(XTar2,XG-Rad,XG+Rad) & inrange(YTar2,YG-Rad,YG+Rad) &
inrange(ZTar2,ZG-Rad,ZG+Zoff) -> New2=1,H2=0;
inrange(XTar3,XG-Rad,XG+Rad) & inrange(YTar3,YG-Rad,YG+Rad) &
inrange(ZTar3,ZG-Rad,ZG+Zoff) -> New3=1,H3=0;
inrange(XTar4,XG-Rad,XG+Rad) & inrange(YTar4,YG-Rad,YG+Rad) &
inrange(ZTar4,ZG-Rad,ZG+Zoff) -> New4=1,H4=0;