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Looks like it will miss locks on 2 occasions.
- When a bot gets out of range, making the radar do a full spin.
- And when a bot is in an angle too close to where the radar ends. When the radar reverses direction, it might miss that bot and then do a full spin. It would be better to keep turning the radar in the same direction a bit more. Only it will require a lot more trigonometry and codesize to calculate how much.
MN