function smart_motion()

global vid gray_picture rgb_picture 
global T_Point target_point
global CMin_X CMin_Y CMax_X CMax_Y 

while(1)
    
    %standart işlemler
    preview(vid);
    rgb_picture = getsnapshot(vid);
    gray_picture = rgb2gray(rgb_picture);
    imshow(gray_picture)
    
    %Resmin belirli bir sınır dahilinde taranması
    for x=CMin_X:CMax_X
        for y=CMin_Y:CMax_Y
            
            pixel_value = gray_picture(y,x);
            
            if (pixel_value > T_Point)

                target_point = [x y]
                
                calculate_new_border();
                break;        

            end
            
        end
        
        %ikincil kontrol
        if (pixel_value > T_Point)
            target_point = [x  y]
            calculate_new_border();
            break;
        end       
        
    end
    
    
    %hedef çiz veya dön
    if (pixel_value > T_Point)
        
        display_target();
    
    else
        return;
    end
    
 
end


end