+ ans.status = state_get_status();
+ ans.ball_count = state_get_ball_count();
+ ans.lcob = cob_detect_left();
+ ans.rcob = cob_detect_right();
+ ans.opponent_x = beacon.opponent_x;
+ ans.opponent_y = beacon.opponent_y;
+ ans.opponent_a = beacon.opponent_angle;
+ ans.opponent_d = beacon.opponent_dist;