Index: lib/Status.java
===================================================================
--- lib/Status.java	(revision 22)
+++ lib/Status.java	(working copy)
@@ -9,7 +9,10 @@
  ***/
 public class Status
 {
+    /** The number of degrees between each scan. */
     public static final int DEGREES   = 30;
+
+    /** The number of laser scans. */
     public static final int NUM_SCANS = 180/DEGREES + 1;
 
     /** Rotation taken before moving. */
@@ -20,6 +23,12 @@
 
     /** The distance moved. */
     public float distance;
+
+    /** The real robot x-position. */
+    public int realX;
+
+    /** The real robot x-position. */
+    public int realY;
     
     /** Sensor readings every 30 degrees. */
     public int[] sensors;
@@ -49,6 +58,7 @@
     /** Basic constructor, everything is set to 0. */
     public Status() 
     {
+        realX = realY = 0;
         distance = 0.0f;
         initialRotation = 0.0f;
         finalRotation = 0.0f;
Index: lib/RobotModel.java
===================================================================
--- lib/RobotModel.java	(revision 24)
+++ lib/RobotModel.java	(working copy)
@@ -85,6 +85,18 @@
         }
     }
 
+    /** Return the minimum x coordinate. */
+    public int getMinX() { return mMap.mMinX; }
+
+    /** Return the minimum y coordinate. */
+    public int getMinY() { return mMap.mMinY; }
+
+    /** Return the maximum x coordinate. */
+    public int getMaxX() { return mMap.mMaxX; }
+
+    /** Return the maximum y coordinate. */
+    public int getMaxY() { return mMap.mMaxY; }
+
     private void initialize() throws IOException
     {
         // look ahead until we find the first scan
@@ -216,6 +228,8 @@
             mMap.realRobotR = realro[0];
             mMap.realRobotX = realxy[0];
             mMap.realRobotY = realxy[1];
+            status.realX = realxy[0];
+            status.realY = realxy[1];
         }
 
         debug.println("Located at ("+mMap.robotX+","+mMap.robotY+") "