private int skipper = 0;

	private double[] apertureList = {90.0, 60.0, 40.0, 25.0, 15.0};
	private int aperture = 0;
	private int nextScannedAngle = 0;
	private int currentScanState = 0;
	// 0 - not found
	// 1 - found, scanning first half
	// 2 - found, scanning second half
	// 3 - found, last step middle
	// 4 - found, last step left
	// 5 - found, last step right
	private Scan pizzaScan() {
		skipper = (skipper + 1) % 5;
		if (skipper == 0) {
			setScanAperture(new Angle(apertureList[aperture], "d"));
			setScanDirection(new Angle(nextScannedAngle, "d"));
			return null;
		} else if (skipper == 1) {
			System.out.println(currentScanState + ", aperture: " + apertureList[aperture] + ", nextScannedAngle: " + nextScannedAngle % 360 + ", dtt: " + getLastScan().distanceToTarget);
			if (getLastScan().distanceToTarget != 0.0) {
				if (aperture < apertureList.length - 1) {
					currentScanState = 1;
					aperture++;
					nextScannedAngle -= apertureList[aperture - 1] / 4.0;
				} else if (aperture == apertureList.length - 1) {
					currentScanState = 3;
				}
			} else {
				if (currentScanState == 0) {
					nextScannedAngle += apertureList[aperture];
				} else if (currentScanState == 1) {
					nextScannedAngle += apertureList[aperture - 1] / 2.0;
					currentScanState = 2;
				} else if (currentScanState == 2) {
					currentScanState = 0;
					aperture = 0;
				} else if (currentScanState == 3) {
					currentScanState++;
					nextScannedAngle -= apertureList[aperture - 1];
				} else if (currentScanState == 4) {
					currentScanState++;
					nextScannedAngle += 2 * apertureList[aperture - 1];
				} else {
					currentScanState = 0;
					aperture = 0;
				}
			}
		} else {
			return null;
		}


		return aperture >= apertureList.length - 2 ? getLastScan() : null;
	}