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start:- nxt_open, drive2(100,1).


drive(X,Y) :- nxt_light(Z),Z>20,
	      nxt_go_cm(X,Y), drive(X,Y).

drive(X,Y) :- nxt_light(Z),Z<20,
	      nxt_rotate(100,120), drive(X,Y).
drive(X,Y) :- nxt_sound(U), U>15,nxt_rotate(100,90), nxt_stop.
      

drive2(X,Y) :- nxt_sound(Z),Z>50,
	      nxt_go_cm(X,Y), drive(X,Y).

drive2(X,Y) :- nxt_sound(Z),Z<50,
	      nxt_rotate(100,120), drive(X,Y).