method AvoidObstacle()
	{
		variable int Degrees = 0
		variable int Distance = 5
		variable int NewHeading = 0
		variable bool Left = FALSE
		variable float X
		variable float Y
		variable float Z
		variable float MeZ
		
		MeZ:Set[${Me.Z} + 0.3]
		do
		{
			Degrees:Inc[5]
			if ${Left}
			{
				if ${Math.Calc[${Me.Heading} - ${Degrees}]} < 0
				{
					NewHeading:Set[${Math.Calc[${Degrees} - ${Me.Heading}]}]
				}
				else
				{
					NewHeading:Set[${Me.Heading} - ${Degrees}]
				}
				Left:Set[FALSE]
			}
			else
			{
				if ${Math.Calc[${Me.Heading} + ${Degrees}]} > 360
				{
					NewHeading:Set[${Math.Calc[360 - (${Degrees} + ${Me.Heading})]}]
				}
				else
				{
					NewHeading:Set[${Me.Heading} + ${Degrees}]
				}
				Left:Set[TRUE]
			}

			X:Set[${Math.Calc[${Me.X}+${Distance}*${Math.Cos[${NewHeading}]}]}]
			Y:Set[${Math.Calc[${Me.Y}-${Distance}*${Math.Sin[${NewHeading}]}]}]
			Z:Set[${Math.Calc[${Me.Z} + 0.3]}]
		}
		while ${Me.IsPathObstructed[${X},${Y},${Z},999,${Me.X},${Me.Y}.${MeZ}]} && ${Degrees} < 190

		This:Debug[">>> ${Me.Heading} ${NewHeading}"]

		This.CurrentDestination:Set[${X}]
		This.CurrentDestination:Set[${Y}]
		This.CurrentDestination:Set[${Z}]
		This:FaceXYZ[${X},${Y},${Z}]
	}