//search for dark red (0), head toward blob
int cam_check = 0;
track_update(); // process the most recent image
printf("Big circles\n");
int c;
int rotations_a = 0;
int rotations_b = 0;
while (cam_check == 0)//cam_check allows to program to exit loop
{
    while (track_count(cube) > 0) //look for cubes
    { // get  x, y for the biggest blob the channel sees
        track_update(); // process the most recent image
        x = track_x(cube,0); y = track_y(cube,0);
        printf("Biggest blob at (%d,%d)\n",x,y);
        if (x > 50 && x < 110) //center in front of cube
        {
            int a = get_motor_position_counter(0);
            track_update(); // process the most recent image
            move(75,75);
            if (!y < 90) //drive toward cube
            {
                ao();
                set_servo_position(0, 1100);//close claw
                int b = get_motor_position_counter(0);//program b value to use in c value formula
                int c = b - a; //program c value to retrace steps
                int cam_check = cam_check + 1;//exit while loop
                printf("Cam Check + 1!\n");
            }
        }
        if (x < 50)
        {
            move(-75,75);
            msleep(150);
            int rotations_b = rotations_b - 1;
            freeze(0); freeze(3);
        }
        if (x < 50)
        {
            move(75,-75);
            msleep(150);
            int rotations_b = rotations_b + 1;
            freeze(0); freeze(3);
        }
    }
    move(75,-75); //turn
    msleep(500); //wait 500 miliseconds
    int rotations_a = rotations_a + 1;
    ao(); //stop motors
}