function [dRow,dCol,action,mark] = solver(mainMap,foodMap,myAntMap,opAntMap, ...
    myScentMap,opScentMap,myDeathMap,opDeathMap)

% Army ant solver
% Created by Alan Chalker
% 11/6/08
%
% Please leave comments in if you reuse this!!!!!

if opAntMap(3,3)>0 % if another ant present, attack
    dRow = 0;
    dCol = 0;
    action = -1;
else
    if mainMap(3,3)==1 % if at base, don't carry
        action=0;
    else
        action=1;
    end

    %if not carrying, check for sugar in view and go towards it
    if foodMap(3,3)==0
        if any(foodMap(1:2,:))
            dRow=-1;
        elseif any(foodMap(4:5,:))
            dRow=1;
        elseif any(foodMap(3,:))
            dRow=0;
        else
            if isnan(mainMap(2,3))
                dRow = round(rand);
            elseif isnan(mainMap(4,3))
                dRow = round(rand)-1;
            else
                dRow   = round(rand*2) - 1;
            end
        end
        if any(foodMap(:,1:2))
            dCol=-1;
        elseif any(foodMap(:,4:5))
            dCol=1;
        elseif any(foodMap(:,3))
            dCol=0;
        else
            if isnan(mainMap(3,2))
                dCol = round(rand);
            elseif isnan(mainMap(3,4))
                dCol = round(rand)-1;
            else
                dCol   = round(rand*2) - 1;
            end
        end
    elseif mainMap(3,3)~=1 
        % if carrying and not on a base, check for base and go towards it
        if any(mainMap(1:2,:)==ones(2,5))
            dRow=-1;
        elseif any(mainMap(4:5,:)==ones(2,5))
            dRow=1;
        elseif any(mainMap(3,:)==ones(1,5))
            dRow=0;
        else
            if isnan(mainMap(2,3))
                dRow = round(rand);
            elseif isnan(mainMap(4,3))
                dRow = round(rand)-1;
            else
                dRow   = round(rand*2) - 1;
            end
        end
        if any(mainMap(:,1:2)==ones(5,2))
            dCol=-1;
        elseif any(mainMap(:,4:5)==ones(5,2))
            dCol=1;
        elseif any(mainMap(:,3)==ones(5,1))
            dCol=0;
        else 
            if isnan(mainMap(3,2))
                dCol = round(rand);
            elseif isnan(mainMap(3,4))
                dCol = round(rand)-1;
            else
                dCol   = round(rand*2) - 1;
            end
        end

    else
        %check for obstacles and don't send a bad move
        if isnan(mainMap(3,2))
            dCol = round(rand);
        elseif isnan(mainMap(3,4))
            dCol = round(rand)-1;
        else
            dCol   = round(rand*2) - 1;
        end

        if isnan(mainMap(2,3))
            dRow = round(rand);
        elseif isnan(mainMap(4,3))
            dRow = round(rand)-1;
        else
            dRow   = round(rand*2) - 1;
        end
    end
end


mark = 0;

% nearbybase=[mainMap(2:4,2)' mainMap(2:4,4)' mainMap(2,3) mainMap(4,3)];
% if any(nearbybase==ones(1,8))
%     if myScentMap(3,3)~=100;
%         mark=100;
%     end
% else
%
%     nearbyscents=[myScentMap(2:4,2)' myScentMap(2:4,4)' myScentMap(2,3) myScentMap(4,3)];
%     if any(nearbyscents)
%         if myScentMap(3,3)~=max(nearbyscents)-1
%             mark = max(nearbyscents)-1;
%         end
%     end
%
%
% end