:- consult('plnxt.pl').
 
start :- Angle is 0,
	my_loop(Angle).

my_loop(Angle) :- Angle < 360,
		write(Angle),	
		badaj_ultra,
		NewAngle is Angle + 10,
		my_loop(NewAngle).
 
obrot :- write('obrot'),
	nxt_rotate(360, 10, force).

badaj_ultra :-
	nxt_ultrasonic(Ultra,force),
	Ultra < 20,
	podjedz,
	obrot.

badaj_ultra :-
	nxt_ultrasonic(Ultra,force),
	Ultra >= 20,
	obrot.

podjedz :- nxt_go_cm(400, 40),
	 sleep(1),
	nxt_go_cm(-400, 40).
	
stop :-
	nxt_stop,
	nxt_close.