ApartmentSimEnvironment  

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

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

AddLaserRangeFinderEntity    lrf1
	/Position:0  0.4  0
	/ParentEntity:base1
	/Procedure_SensorNotify:proc_lrf1

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

AddLaserRangeFinderEntity    lrf2
	/Position:0  0.4  0
	/ParentEntity:base2
	/Procedure_SensorNotify:proc_lrf2


FlushScript  

base1.Go(0.1)
base2.Go(0.1)

Procedure  proc_lrf1
	call action_logic(value, base1)
End

Procedure  proc_lrf2
	call action_logic(value, base2)
End


Procedure  action_logic(lrf, base)

	d1 = lrf.DistanceMeasurements[90]
	d2 = lrf.DistanceMeasurements[180]
	d3 = lrf.DistanceMeasurements[270]

	if (d1 < 1000 || d2 < 1000)
	{
		base.Turn(90, 1.0)
		base.Go(0.1)
	}
	else
	{
		if (d3 < 1000)
		{
			base.Turn(-90, 1.0)
			base.Go(0.1)
		}
	}
End