DIM grid (100,100)
DIM scanner (100,100)
start=2
goal=3
`make camera 1
`position camera 1,35,25,-100
`POINT camera 35,25,0
DATA 1,1,1,1,1,1,1
DATA 1,3,1,0,1,2,1
DATA 1,0,1,0,1,0,1
DATA 1,0,0,0,0,0,1
DATA 1,1,1,1,1,1,1

a=0
FOR y = 1 TO 5
   FOR x = 1 TO 7
      a=a+1
      READ griddata
      grid(x,y) = griddata
`      IF griddata = 0 THEN make object sphere a, 2: Position object a, x*10,y*10,0: color object a, rgb(255,255,0)
`      IF griddata = 1 THEN make object cube a,10 : position object a, x*10,y*10,1
`      IF griddata = 2 THEN make object cube 40,5: position object 40,x*10,y*10,0: color object 40, rgb(0,0,255)
`      IF griddata = 3 THEN make object cube 41,5: position object 41,x*10,y*10,0: color object 41, rgb(255,0,0)
`      POINT camera x*100,y*100,0
      IF griddata=2 THEN startcoordx=x
      IF griddata=2 THEN startcoordy=y
      IF griddata=3 THEN stopcoordx=x
      IF griddata=3 THEN stopcoordy=y
   NEXT x
NEXT y

searchx=startcoordx
searchy=startcoordy
scannert(searchx,searchy,99)

DO:

sync
LOOP

FUNCTION scannert(x,y,distance)
scanner(x, y) = distance    ` set the distance TO current location

SLEEP 250
sync

FOR yf = 1 TO 5
   FOR xf = 1 TO 7
      scanput = grid(xf,yf)
      set cursor xf*16,yf*16
      PRINT scanput
      scanput = scanner(xf,yf)
      set cursor xf*16,140+yf*16
      PRINT scanput
   NEXT
NEXT

PRINT "x = ", x, "y = ", y, " distance = ", distance

KEY$ = INKEY$()
IF KEY$ = "a" THEN END

` scan left
gridvar = grid(x-1, y)
scanvar = scanner(x-1, y)
IF scanvar < distance AND gridvar <> 1 THEN scannert(x-1, y, distance - 1)

` scan right
gridvar = grid(x+1, y)
scanvar = scanner(x+1, y)
IF scanvar < distance AND gridvar <> 1 THEN scannert(x+1, y, distance - 1)

` scan up
gridvar = grid(x, y-1)
scanvar = scanner(x, y-1)
IF scanvar < distance AND gridvar <> 1 THEN scannert(x, y-1, distance - 1)

` scan down
gridvar = grid(x, y+1)
scanvar = scanner(x, y+1)
IF scanvar < distance AND gridvar <> 1 THEN scannert(x, y+1, distance - 1)

endfunction