:- consult('plnxt.pl').

start :-
       nxt_goal(irek, go_on_buddy).

o :-
       nxt_open,
       start.

go_on_buddy :-
       wall,
       clean,
       go_on_buddy.

go_on_buddy :-
       nxt_rotate(100,10),
       go_on_buddy.


wall :-
       nxt_ultrasonic(Value, force),
       write(Value), write(','),
       Value < 35.

clean :-
       nxt_go_cm(200,40),
       nxt_rotate(200,180),
       nxt_go_cm(200,40).
stop :-
       trigger_killall,
       nxt_stop,
       nxt_close.