:- consult('plnxt.pl').
 
start :-
	nxt_open,
	go_on,
	trigger_create(_,check_touch, [nxt_stop, nxt_close]).
 
go_on :-
	nxt_go(300),
	trigger_create(_,check_distance, zawroc).



check_distance :-
	nxt_ultrasonic(Distance,force),
	Distance < 35.

zawroc :-
	nxt_stop,
	nxt_rotate(400,180),
	go_on.
	
check_touch :-
	nxt_touch(V,force),V = 1.