/*  Dean W Cooper  -  Refined Robot control program  4/21/86 */

main(){ll1lll11l1l1l1l1l1l1ll1l1l=20;l111ll11l1lll1ll1l1l1=0;ll11ll11l1ll1l1l1ll1lll11l=l1l1l1l1l1l1l1l1l1l1l1ll=
rand(360);if(l1l1l1l1l1l1l1l1l1l1l1ll<270&&l1l1l1l1l1l1l1l1l1l1l1ll>90)l11lll1l1l1l1ll1l1llll1l1ll=-1;
else(l11lll1l1l1l1ll1l1llll1l1ll=1);if(l1l1l1l1l1l1l1l1l1l1l1ll>180)lll1l111l1ll1l1l1ll1l1l1l1l=-1;
else(lll1l111l1ll1l1l1ll1l1l1l1l=1);drive(l1l1l1l1l1l1l1l1l1l1l1ll,100);while(1){drive(l1l1l1l1l1l1l1l1l1l1l1ll,100);
if(loc_x()<150)if(l11lll1l1l1l1ll1l1llll1l1ll==-1){drive(l1l1l1l1l1l1l1l1l1l1l1ll,50);l1l1l1l1l1l1l1l1l1l1l1ll=rand(100)+40;
if(l1l1l1l1l1l1l1l1l1l1l1ll>89)l1l1l1l1l1l1l1l1l1l1l1ll+=180;while(speed()>50)drive(l1l1l1l1l1l1l1l1l1l1l1ll,50);drive(l1l1l1l1l1l1l1l1l1l1l1ll,100);
ll1l1lll1ll1l1l1l1l1l=0;if(l1l1l1l1l1l1l1l1l1l1l1ll<270&&l1l1l1l1l1l1l1l1l1l1l1ll>90)l11lll1l1l1l1ll1l1llll1l1ll=-1;
else(l11lll1l1l1l1ll1l1llll1l1ll=1);if(l1l1l1l1l1l1l1l1l1l1l1ll>180)lll1l111l1ll1l1l1ll1l1l1l1l=-1;
else(lll1l111l1ll1l1l1ll1l1l1l1l=1);}if(loc_x()>850)if(l11lll1l1l1l1ll1l1llll1l1ll==1){drive(l1l1l1l1l1l1l1l1l1l1l1ll,50);
l1l1l1l1l1l1l1l1l1l1l1ll=rand(100)+130;while(speed()>50)drive(l1l1l1l1l1l1l1l1l1l1l1ll,50);drive(l1l1l1l1l1l1l1l1l1l1l1ll,100);
ll1l1lll1ll1l1l1l1l1l=0;if(l1l1l1l1l1l1l1l1l1l1l1ll<270&&l1l1l1l1l1l1l1l1l1l1l1ll>90)l11lll1l1l1l1ll1l1llll1l1ll=-1;
else(l11lll1l1l1l1ll1l1llll1l1ll=1);if(l1l1l1l1l1l1l1l1l1l1l1ll>180)lll1l111l1ll1l1l1ll1l1l1l1l=-1;
else(lll1l111l1ll1l1l1ll1l1l1l1l=1);}if(loc_y()<150)if(lll1l111l1ll1l1l1ll1l1l1l1l==-1){drive(l1l1l1l1l1l1l1l1l1l1l1ll,50);
l1l1l1l1l1l1l1l1l1l1l1ll=rand(100)+40;while(speed()>50)drive(l1l1l1l1l1l1l1l1l1l1l1ll,50);drive(l1l1l1l1l1l1l1l1l1l1l1ll,100);
ll1l1lll1ll1l1l1l1l1l=0;if(l1l1l1l1l1l1l1l1l1l1l1ll<270&&l1l1l1l1l1l1l1l1l1l1l1ll>90)l11lll1l1l1l1ll1l1llll1l1ll=-1;
else(l11lll1l1l1l1ll1l1llll1l1ll=1);if(l1l1l1l1l1l1l1l1l1l1l1ll>180)lll1l111l1ll1l1l1ll1l1l1l1l=-1;
else(lll1l111l1ll1l1l1ll1l1l1l1l=1);}if(loc_y()>850)if(lll1l111l1ll1l1l1ll1l1l1l1l==1){drive(l1l1l1l1l1l1l1l1l1l1l1ll,50);
l1l1l1l1l1l1l1l1l1l1l1ll=rand(100)+220;while(speed()>50)drive(l1l1l1l1l1l1l1l1l1l1l1ll,50);drive(l1l1l1l1l1l1l1l1l1l1l1ll,100);
ll1l1lll1ll1l1l1l1l1l=0;if(l1l1l1l1l1l1l1l1l1l1l1ll<270&&l1l1l1l1l1l1l1l1l1l1l1ll>90)l11lll1l1l1l1ll1l1llll1l1ll=-1;
else(l11lll1l1l1l1ll1l1llll1l1ll=1);if(l1l1l1l1l1l1l1l1l1l1l1ll>180)lll1l111l1ll1l1l1ll1l1l1l1l=-1;
else(lll1l111l1ll1l1l1ll1l1l1l1l=1);}drive(l1l1l1l1l1l1l1l1l1l1l1ll,100);if(l111ll11l1lll1ll1l1l1){
l1111ll1l1ll1ll1l1ll1l1ll1l1=10;while(l1111ll1l1ll1ll1l1ll1l1ll1l1>3){lll11lll1l1l11l1l1ll1ll1l1ll=l1111ll1l1ll1ll1l1ll1l1ll1l1/2;
if(ll111l11l1lll1ll1l1ll1l1ll1l=scan(ll11ll11l1ll1l1l1ll1lll11l,lll11lll1l1l11l1l1ll1ll1l1ll)){if(ll111l11l1lll1ll1l1ll1l1ll1l<120){
if(ll111l11l1lll1ll1l1ll1l1ll1l>20){cannon(ll11ll11l1ll1l1l1ll1lll11l,ll111l11l1lll1ll1l1ll1l1ll1l);
lll1ll1l1l1l1l1lll1l1l1ll=ll111l11l1lll1ll1l1ll1l1ll1l;}}else(lll111ll1l1lll1l1l1l1ll1l11l=0);}
else if(ll111l11l1lll1ll1l1ll1l1ll1l=scan(ll11ll11l1ll1l1l1ll1lll11l+l1111ll1l1ll1ll1l1ll1l1ll1l1,lll11lll1l1l11l1l1ll1ll1l1ll)){
if(ll111l11l1lll1ll1l1ll1l1ll1l<120){if(ll111l11l1lll1ll1l1ll1l1ll1l>20){cannon(ll11ll11l1ll1l1l1ll1lll11l+l1111ll1l1ll1ll1l1ll1l1ll1l1,ll111l11l1lll1ll1l1ll1l1ll1l);
llll111l1l1ll1l1l1l1l1l=ll11ll11l1ll1l1l1ll1lll11l=(ll11ll11l1ll1l1l1ll1lll11l+l1111ll1l1ll1ll1l1ll1l1ll1l1)%360;
lll1ll1l1l1l1l1lll1l1l1ll=ll111l11l1lll1ll1l1ll1l1ll1l;}}else(lll111ll1l1lll1l1l1l1ll1l11l=l1111ll1l1ll1ll1l1ll1l1ll1l1);
}else if(ll111l11l1lll1ll1l1ll1l1ll1l=scan(ll11ll11l1ll1l1l1ll1lll11l-l1111ll1l1ll1ll1l1ll1l1ll1l1,lll11lll1l1l11l1l1ll1ll1l1ll)){
if(ll111l11l1lll1ll1l1ll1l1ll1l<120){if(ll111l11l1lll1ll1l1ll1l1ll1l>20){cannon(ll11ll11l1ll1l1l1ll1lll11l-l1111ll1l1ll1ll1l1ll1l1ll1l1,ll111l11l1lll1ll1l1ll1l1ll1l);
llll111l1l1ll1l1l1l1l1l=ll11ll11l1ll1l1l1ll1lll11l=(ll11ll11l1ll1l1l1ll1lll11l+360-l1111ll1l1ll1ll1l1ll1l1ll1l1)%360;
lll1ll1l1l1l1l1lll1l1l1ll=ll111l11l1lll1ll1l1ll1l1ll1l;}}else(lll111ll1l1lll1l1l1l1ll1l11l=-l1111ll1l1ll1ll1l1ll1l1ll1l1);
}else{if(l1111ll1l1ll1ll1l1ll1l1ll1l1==10){ll1l1lll1ll1l1l1l1l1l=l111ll11l1lll1ll1l1l1=0;if(lll1ll1l1l1l1l1lll1l1l1ll<75){
ll11ll11l1ll1l1l1ll1lll11l=(llll111l1l1ll1l1l1l1l1l+180)%360;if(ll11ll11l1ll1l1l1ll1lll11l>=
llll111l1l1ll1l1l1l1l1l||ll11ll11l1ll1l1l1ll1lll11l<llll111l1l1ll1l1l1l1l1l-180)
ll1lll11l1l1l1l1l1l1ll1l1l=340;else(ll1lll11l1l1l1l1l1l1ll1l1l=20);}else if(ll11ll11l1ll1l1l1ll1lll11l>=
llll111l1l1ll1l1l1l1l1l||ll11ll11l1ll1l1l1ll1lll11l<llll111l1l1ll1l1l1l1l1l-180)
ll1lll11l1l1l1l1l1l1ll1l1l=20;else(ll1lll11l1l1l1l1l1l1ll1l1l=340);}ll111l11l1lll1ll1l1ll1l1ll1l=l1111ll1l1ll1ll1l1ll1l1ll1l1=0;
}if(ll111l11l1lll1ll1l1ll1l1ll1l>119){ll11ll11l1ll1l1l1ll1lll11l+=lll111ll1l1lll1l1l1l1ll1l11l;if(ll111l11l1lll1ll1l1ll1l1ll1l<700){
cannon(ll11ll11l1ll1l1l1ll1lll11l-(llll111l1l1ll1l1l1l1l1l-ll11ll11l1ll1l1l1ll1lll11l),ll111l11l1lll1ll1l1ll1l1ll1l-
(lll1ll1l1l1l1l1lll1l1l1ll-ll111l11l1lll1ll1l1ll1l1ll1l)/3);llll111l1l1ll1l1l1l1l1l=ll11ll11l1ll1l1l1ll1lll11l=(ll11ll11l1ll1l1l1ll1lll11l+360)%360;
lll1ll1l1l1l1l1lll1l1l1ll=ll111l11l1lll1ll1l1ll1l1ll1l;ll1l1lll1ll1l1l1l1l1l=0;}else{if(!ll1l1lll1ll1l1l1l1l1l){
drive(l1l1l1l1l1l1l1l1l1l1l1ll,50);while(speed()>50)drive(l1l1l1l1l1l1l1l1l1l1l1ll,50);drive(ll11ll11l1ll1l1l1ll1lll11l,100);
ll1l1lll1ll1l1l1l1l1l=1;l1111ll1l1ll1ll1l1ll1l1ll1l1=0;ll11ll11l1ll1l1l1ll1lll11l=(ll11ll11l1ll1l1l1ll1lll11l+360)%360;
l1l1l1l1l1l1l1l1l1l1l1ll=ll11ll11l1ll1l1l1ll1lll11l;if(l1l1l1l1l1l1l1l1l1l1l1ll<270&&l1l1l1l1l1l1l1l1l1l1l1ll>90)l11lll1l1l1l1ll1l1llll1l1ll=-1;
else(l11lll1l1l1l1ll1l1llll1l1ll=1);if(l1l1l1l1l1l1l1l1l1l1l1ll>180)lll1l111l1ll1l1l1ll1l1l1l1l=-1;
else(lll1l111l1ll1l1l1ll1l1l1l1l=1);}}}l1111ll1l1ll1ll1l1ll1l1ll1l1=(l1111ll1l1ll1ll1l1ll1l1ll1l1+2)/3;
}}else{ll111l11l1lll1ll1l1ll1l1ll1l=scan(ll11ll11l1ll1l1l1ll1lll11l,10);if(ll111l11l1lll1ll1l1ll1l1ll1l==0||ll111l11l1lll1ll1l1ll1l1ll1l>700)
ll11ll11l1ll1l1l1ll1lll11l=(ll11ll11l1ll1l1l1ll1lll11l+ll1lll11l1l1l1l1l1l1ll1l1l)%360;else{
llll111l1l1ll1l1l1l1l1l=ll11ll11l1ll1l1l1ll1lll11l;lll1ll1l1l1l1l1lll1l1l1ll=ll111l11l1lll1ll1l1ll1l1ll1l;
l111ll11l1lll1ll1l1l1=1;if(ll111l11l1lll1ll1l1ll1l1ll1l>400){drive(l1l1l1l1l1l1l1l1l1l1l1ll,50);
while(speed()>50)drive(l1l1l1l1l1l1l1l1l1l1l1ll,50);drive(ll11ll11l1ll1l1l1ll1lll11l,100);l1l1l1l1l1l1l1l1l1l1l1ll=ll11ll11l1ll1l1l1ll1lll11l;
if(l1l1l1l1l1l1l1l1l1l1l1ll<270&&l1l1l1l1l1l1l1l1l1l1l1ll>90)l11lll1l1l1l1ll1l1llll1l1ll=-1;else(l11lll1l1l1l1ll1l1llll1l1ll=1);
if(l1l1l1l1l1l1l1l1l1l1l1ll>180)lll1l111l1ll1l1l1ll1l1l1l1l=-1;else(lll1l111l1ll1l1l1ll1l1l1l1l=1);
}}}}}