@use Celdas.

Controller DemoController.

CeldasVehicle : MyVehicle {

	+ variables:
		sensor (object).
		flWheel, frWheel, blWheel, brWheel (object).

	+ to init at location = (0, 0, 0) (vector):

		self move to location.

		blWheel = (self add-wheel at (2, 0, -1.5)).
		brWheel = (self add-wheel at (2, 0, 1.5)).
		blWheel = (self add-wheel at (-2, 0, -1.5)).
		brWheel = (self add-wheel at (-2, 0, 1.5)).

		#blWheel set-velocity to 15.0.
		#brWheel set-velocity to 15.0.

		sensor = (self add-sensor at (2.0, .4, 0)).

	+ to set-global-velocity to velocity (float):

		brWheel set-velocity to velocity.
		frWheel set-velocity to velocity.
		blWheel set-velocity to velocity.
		flWheel set-velocity to velocity.

	+ to get-global-velocity:

		return ((brWheel get-velocity) + (frWheel get-velocity)
			+ (blWheel get-velocity) + (flWheel set-velocity)) / 4.

	+ to turn-right with-velocity velocity (float):

		brWheel set-velocity to velocity.
		frWheel set-velocity to velocity.
		blWheel set-velocity to -velocity.
		flWheel set-velocity to -velocity.

	+ to turn-left with-velocity velocity (float):

		blWheel set-velocity to velocity.
		flWheel set-velocity to velocity.
		brWheel set-velocity to -velocity.
		frWheel set-velocity to -velocity.

	+ to get-sensor-value:

		return (sensor get-sensor-value).

}

CeldasControl : DemoController {
	+ variables:
		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 MyVehicle.
		self watch item vehicle.

	+ to post-iterate:
		value (float).
			
		value = vehicle get-sensor-value.

		if value < 1:       vehicle set-global-velocity to ((vehicle get-global-velocity) + 1).
		else if value > 10: vehicle set-global-velocity to ((vehicle get-global-velocity) - 1).

		print value.

}