sorry, i guess i should have explained better. we have a center sensor as well as left and right sensors. the motor will stop to fire on the center sensor input. I currently have most of the code written to recognize the heat and move in the correct direction until the center sensor sees something. The issue is that we are only going to have around 180 degrees of vision, and thus whenever the gun isnt actually doing anything, we would like for it to be facing "forward." I currently am not sure how to establish a specific position in the beginning and be able to return to it at a given time