local function yaw_pitch(xoff,yoff,zoff)
	local yaw = -math.deg(math.atan2(xoff,zoff))
	local perp_dist = math.sqrt(xoff*xoff+zoff*zoff)
	local pitch = -math.deg(math.atan2(yoff, perp_dist))
	return yaw,pitch
end

local scanner = assert(peripheral.wrap"right")
local laser = assert(peripheral.wrap"left")

while true do
	local targets = {}
	local scanned = scanner.scan()
	for _,v in ipairs(scanned) do
		if     v.z <= 7 and v.z >= -8
		   and v.x <= 7 and v.x >= -8
		   and v.y < 0  then
			local yaw,pitch = yaw_pitch(t.x,t.y,t.z)
			laser.fire(yaw,pitch,4)
		end
	end
until #targets == 0