Here is my code:

```
diff = 0.5
threshold = 5.7
S = 3
circle = 5
cx = 68
cy = 68
def prepareMap():
map = []
for y in range(0, 135):
row = []
for x in range(0, 160):
row.push(0)
map.push(row)
hazards = hero.findHazards()
for hazar in hazards:
hx = Math.round(hazar.pos.x)
hy = Math.round(hazar.pos.y)
map[hx][hy] = 1
return map
def buildRect(x1, y1, x2, y2):
if (x1 == x2):
return [[x1 - S, y1], [x1 + S, y1], [x2 - S, y2], [x2 + S, y2]]
tang = (y1 - y2) / (x1 - x2)
ang = Math.atan(tang)
rad = Math.PI * 2 / 360
hero.moveXY(128 - r / 2 - diff, 68)
angle = 0
while True:
if (not(circle)):
break
R = r * circle + r / 2 - diff
iR = R - r
while True:
angle = (angle + 2) % 360
x = cx + Math.cos(angle * rad) * R
y = cy + Math.sin(angle * rad) * R
ix = cx + Math.cos(angle * rad) * iR
iy = cy + Math.sin(angle * rad) * iR
hero.moveXY(x, y)
nearest = hero.findNearest(hero.findHazards())
if (hero.distanceTo(nearest) >= threshold):
hero.debug(angle, hero.distanceTo(nearest))
hero.moveXY(ix, iy)
circle -= 1
break
```

I tried many times but I didn’t work. How can I fix it ?