a = peripheral.wrap("left")
while true do
mobs = a.sense()
best={100,0,0,0}
nPig=0
for i = 1,#mobs do
    m=mobs[i]["name"]
    if m=="Pig" then
        x=mobs[i]['x']
        y=mobs[i]['y']
        z=mobs[i]['z']
        if best[1]>math.abs(x)+math.abs(y)/10+math.abs(z) then
                best={math.abs(x)+math.abs(y)/10+math.abs(z),x,y,z}
        end
		nPig=nPig+1
    end
end

x=best[2]
y=best[3]
z=best[4]





if nPig>15 then
        pitch = -math.atan2(y, math.sqrt(x * x + z * z))
        yaw = math.atan2(-x, z)
        a.fire(math.deg(yaw), math.deg(pitch), 1)
        sleep(1)
end

end