;

proc main

; Variable declaration section

string sensor
string bogus


string data1
string data2
string data3
string data4
string data5
string data6
string data7
string data8

integer index

integer data1_i
integer data2_i
integer data3_i
integer data4_i
integer data5_i
integer data6_i
integer data7_i
integer data8_i

while 1                       	

transmit "D,1,1^M"        	; Move straight ahead		
set aspect rxdata ON
rget bogus
set aspect rxdata OFF

transmit "N^M"        		; Get the sensor data        
set aspect rxdata ON
rget sensor
set aspect rxdata OFF

strfind sensor "," index	; Remove n,
inc index
strdelete sensor 0 index

strfind sensor "," index	; data1_i
substr data1 sensor 0 index
inc index
strdelete sensor 0 index
atoi data1 data1_i
statmsg "%d" data1_i

strfind sensor "," index	; data2_i
substr data2 sensor 0 index
inc index
strdelete sensor 0 index
atoi data2 data2_i
statmsg "%d" data2_i

strfind sensor "," index	; data3_i
substr data3 sensor 0 index
inc index
strdelete sensor 0 index
atoi data3 data3_i
statmsg "%d" data3_i

strfind sensor "," index	; data4_i
substr data4 sensor 0 index
inc index
strdelete sensor 0 index
atoi data4 data4_i
statmsg "%d" data4_i

strfind sensor "," index	; data5_i
substr data5 sensor 0 index
inc index
strdelete sensor 0 index
atoi data5 data5_i
statmsg "%d" data5_i

strfind sensor "," index	; data6_i
substr data6 sensor 0 index
inc index
strdelete sensor 0 index
atoi data6 data6_i
statmsg "%d" data6_i

strfind sensor "," index	; data7_i
substr data7 sensor 0 index
inc index
strdelete sensor 0 index
atoi data7 data7_i
statmsg "%d" data7_i

data8 = sensor
atoi data8 data8_i
statmsg "%d" data8_i

; Avoidance routine

if ((data3_i > 500)&&(data4_i >500)) 	; Two front sensors
	transmit "D,0,0^M"        		
	set aspect rxdata ON
	rget bogus
	set aspect rxdata OFF

	transmit "D,4,-1^M"        		
	set aspect rxdata ON
	rget bogus
	set aspect rxdata OFF

endif

if (data1_i > 500) 		
	transmit "D,0,0^M"        		
	set aspect rxdata ON
	rget bogus
	set aspect rxdata OFF

	transmit "D,1,-1^M"        		
	set aspect rxdata ON
	rget bogus
	set aspect rxdata OFF

endif

if (data2_i > 500) 
	transmit "D,0,0^M"        		
	set aspect rxdata ON
	rget bogus
	set aspect rxdata OFF

	transmit "D,1,-2^M"        		
	set aspect rxdata ON
	rget bogus
	set aspect rxdata OFF

endif

if (data3_i > 500) 
	transmit "D,0,0^M"        		
	set aspect rxdata ON
	rget bogus
	set aspect rxdata OFF

	transmit "D,1,-4^M"        		
	set aspect rxdata ON
	rget bogus
	set aspect rxdata OFF

endif

if (data4_i > 500) 
	transmit "D,0,0^M"        		
	set aspect rxdata ON
	rget bogus
	set aspect rxdata OFF

	transmit "D,-1,1^M"        		
	set aspect rxdata ON
	rget bogus
	set aspect rxdata OFF

endif

if (data5_i > 500) 
	transmit "D,0,0^M"        		
	set aspect rxdata ON
	rget bogus
	set aspect rxdata OFF

	transmit "D,-2,1^M"        		
	set aspect rxdata ON
	rget bogus
	set aspect rxdata OFF

endif

if (data6_i > 500) 
	transmit "D,0,0^M"        		
	set aspect rxdata ON
	rget bogus
	set aspect rxdata OFF

	transmit "D,-4,1^M"        		
	set aspect rxdata ON
	rget bogus
	set aspect rxdata OFF

endif

endwhile

endproc