public SimpleCommand request_next_move(boolean last_valid)
	{
		SimpleCommand c = new SimpleCommand();
		if(next_move % 5 ==0)
		{ //go forward, plow left
			c.a = true;
			c.b = true;
			c.plow_left = true;
			if(next_move % 10 == 0)
				c.plow_left = false;
			c.plow_straight = false;
		}
		else if(next_move % 5 ==1)
		{ //go left, plow right (no left/down spill)
			c.a = false;
			c.b = true;
			c.plow_left = false;
			c.plow_straight = false;
		}
		else if(next_move % 5 ==2)
		{ //go right, plow left (no right/down spill)
			c.a = true;
			c.b = false;
			c.plow_left = true;
			c.plow_straight = false;
		}
		else if(next_move % 5 ==3)
		{ //go right, plow left (no right/down spill)
			c.a = true;
			c.b = false;
			c.plow_left = true;
			c.plow_straight = false;
		}
		else if(next_move % 5 ==4)
		{ //go left, plow right (no left/down spill)
			c.a = false;
			c.b = true;
			c.plow_left = false;
			c.plow_straight = false;
		}
		next_move++;
		
		if(next_move >= 61)
		{
			c.done = ":T: Reached end of run.";
		}
		return c;
	}