ApartmentSimEnvironment  

UpdateCameraView
	/EyePosition:5  2  14  	/LookAtPoint:3  0  12

AddCoroBot    base1
	/Position:3.5    0    12
	/Orientation:0    0    0

AddSonarEntity    sonar1
	/Position:0  0.25  -0.1
	/ParentEntity:base1
	/Procedure_SensorNotify:proc_sonar1

AddCoroBot    base2
	/Position:2.5    0    12
	/Orientation:0    30    0

AddSonarEntity    sonar2
	/Position:0  0.25  -0.1
	/ParentEntity:base2
	/Procedure_SensorNotify:proc_sonar2

FlushScript  

base1.Go(0.2)
base2.Go(0.2)

Procedure  proc_sonar1
	call action_logic(value, base1)
End

Procedure  proc_sonar2
	call action_logic(value, base2)
End


Procedure  action_logic(sonar, base)

	d1 = sonar.DistanceMeasurements[60]
	d2 = sonar.DistanceMeasurements[120]
	d3 = sonar.DistanceMeasurements[180]

	if (d1 < 1.0 || d2 < 1.0)
	{
		base.Drive(-0.2, 0.2, -0.2, 0.2)
		wait 1000
		base.Go(0.2)
	}
	else
	{
		if (d3 < 1.0)
		{
			base.Drive(0.2, -0.2, 0.2, -0.2)
			wait 1000
			base.Go(0.2)
		}
	}
End