public void Scan()
{
byte[] response = new byte[360];
try
{
socket.Send(scan);
socket.Receive(response);
Console.WriteLine(response);
int[] distances; double[] stats; float[] rawCoordinates;
MathUtil.AddDistances(response, out distances);
MathUtil.FindStats(distances, out stats);
MathUtil.FindCoordinates(distances, 405, 444, 0, out rawCoordinates);
loadedObstacle = new Drawing(distances, rawCoordinates, stats);
ObstacleLoaded = true;
LoadPathStats();
commandActivity.LoadPath(MathUtil.GetPathFromObstacleCoordinates(loadedObstacle.rawCoordinates));
}
catch (SocketException sE)
{
}
}