main ()
{
	int direction,distance,dist1,dist2;
	while (1)
	{
		drive(0,0);
		while (distance = 0)
		{
			direction = direction + 10;
			distance = scan(direction,10);
		}
		while (distance > 0)
		{
			dist1 = scan(direction -5,6);
			dist2 = scan(direction -5,6);
			if (dist1 > 0 && dist2 > 0)
			{
				cannon(direction, dist1);
				move(dist1,direction, 49);
			}
			else
			{
				if (dist1 > 0)
				{
					direction = direction - 1;
					move(dist1,direction,25);
				}
				else
				{
					direction = direction + 1;
					move(dist2,direction, 25);
				}
			}
			distance = scan(direction,10);
		}
	}
}


move (range,dir,speed)
int range,dir,speed;
{
	if (range > 100)
	drive(dir,speed);
	else
	drive(0,0);
}