@use CeldasMultiSensor.

Controller DemoController.

CeldasControl : DemoController {
	+ variables:
		leftWheel, rightWheel (object).
		leftSensor, rightSensor (object).
		vehicle (object).

		n (int).

	+ to init:
		for n=0, n<10, n++:
		 	new CeldasObstacle init at-location (20 * sin(n * 6.28 / 10), 1, 20 * cos(n * 6.28 / 10)).

		vehicle = new CeldasVehicle.
		self watch item vehicle.

		vehicle move to (10, 2, 5).

		leftWheel = (vehicle add-wheel at (-2, 0, -1.5)).
		rightWheel = (vehicle add-wheel at (-2, 0, 1.5)).
		vehicle add-wheel at (1, 0, 0).

		leftWheel set-velocity to 15.0.
		rightWheel set-velocity to 15.0.

		leftSensor = (vehicle add-sensor at (2.0, .4, 0)).
		rightSensor = (vehicle add-sensor at (2.0, .4, 0)).

	+ to post-iterate:
		valueL, valueR (float).
			
		valueL = leftSensor get-sensor-value.
		valueR = rightSensor get-sensor-value.

		if valueL < 2: leftWheel set-velocity to ((leftWheel get-velocity) + 1).
		else:          leftWheel set-velocity to ((leftWheel get-velocity) - 1).

		if valueL < 2: rightWheel set-velocity to ((rightWheel get-velocity) + 1).
		else:          rightWheel set-velocity to ((rightWheel get-velocity) - 1).

		print "leftSensor = $valueL -- rightSensor = $valueR".

}