I have made a program that moves in a circle very slowly then when it sees something inside its protection circle, it charges at it. When it sees something it calls:
I only track one Motor because tracking two motors will take more memory and may cause it to run slower. After it has reset the angle value of the motor it rotates to Angle 1000 while facing the object it is attacking. After it has moved the object out of the way, it goes back the angle of the motor.
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HOPE THIS HELPS