Targets

void darkTarget() {

  delay(200); //wait for button to lift

  if (!myservo.attached()) myservo.attach(servoPin);

  myservo.write(0);

  long now=millis();

  while(millis()-now<2000);

  int psavg[4] = {0,0,0,0};

  int total=0;

  int tmp;

  for (byte i=0; i<4;i++) total+=psavg[i]=analogRead(A3);//(tmp=microsecondsToCentimeters(ping())==0)?400:tmp;

  byte index=0;

  int greatestDegree=0;

  int readings[180];

  //scan

  for (byte degree=0;degree<180;degree++) {

    myservo.write(degree);

    now=millis();

    while(millis()-now<20);

    total=total-psavg[index];

    total+=psavg[index]=analogRead(A3);//(tmp=microsecondsToCentimeters(ping())==0)?400:tmp;

    index=(index+1)%4;              

    readings[degree]=total/4;

    if (readings[degree]>readings[greatestDegree]) greatestDegree=degree;

    if (useSave) saveData(useSave); //log data

  }

  //move servo to lowest degree

  myservo.write((greatestDegree-4<0)?0:greatestDegree-4);

  int leftedge=greatestDegree;

  for (;readings[leftedge]>50;leftedge--);

  int  rightedge=greatestDegree;

  for (;readings[rightedge]>50;rightedge++);

  myservo.write((leftedge+(rightedge-leftedge)/2-4<0)?0:leftedge+(rightedge-leftedge)/2-4);

  now=millis();

  while(millis()-now<2000); //wait two seconds

  //fire laser

  digitalWrite(laserPin, HIGH);

  now=millis();

  while(millis()-now<5000);

  digitalWrite(laserPin, LOW);

  myservo.write(90);

  now=millis();

  while(millis()-now<2000);

  servoOff();

  followCurvyLine(1);

}