for(int source=0; source<16; source++)
		{
			for(int dest=0; dest<source; dest++)
			{
				if (sensors[source][dest]==null)
				{
					if (sensors[dest][source]!=null)
					{
						sensors[source][dest] = new SensorReading(Float.NaN, sensors[dest][source].dist); 
					}
				}
				else if (sensors[dest][source]==null)
				{
					sensors[dest][source] = new SensorReading(Float.NaN, sensors[source][dest].dist);
				}
				else
				{
					int avgdist = (sensors[source][dest].dist + sensors[dest][source].dist)/2;
					sensors[source][dest].dist = avgdist;
					sensors[dest][source].dist = avgdist;
				}
			}
		}
		
		boolean firstbot = true;
		
		for(int i=0; i<16; i++)
		{
			for(int j=0; j<i; j++)
			{
				if (sensors[i][j]==null) continue;
				if (positions[j]!=null) continue;
				if (firstbot)
				{
					firstbot = false;
					positions[i] = new R2(0, 0, 0);
				}
				if (positions[i]==null) continue;
				if (Float.isNaN(positions[i].th)) continue;
				positions[j] = new R2((int)  (positions[i].x + sensors[i][j].dist*Math.cos(positions[i].th + sensors[i][j].dir)),
									 (int)  (positions[i].y + sensors[i][j].dist*Math.sin(positions[i].th + sensors[i][j].dir)),
									 (float)(/*robostat[i].th + sensors[i][j].dir +*/ sensors[j][i].dir /*- Math.PI*/));
			}
		}
		
		/*for(int i=0; i<16; i++)
		{
			for(int j=0; j<16; j++)
			{
				for(int k=0; k<16; k++)
				{
					if (sensors[i][j]!=null &&
						sensors[i][k]!=null &&
						sensors[j][k]!=null)
					{
						
					}
				}
			}
		}*/