:- consult('plnxt.pl').
 
normal_go :- trigger_create(_,check_light,change_angle),
	trigger_create(_,check_red,run),
	nxt_go(100).

start :-nxt_light_LED(activate, force),
	write("start"),
	normal_go.
stop :-
	trigger_killall,
	nxt_stop.

change_angle :-
	Angle is 100 + random(60), 
	nxt_rotate(360, Angle, force), normal_go,
	write("zmieniam kat").

check_light :-
	nxt_light(Light,force),
	Light < 50,
	write("znalazlem czarny").

check_red :-
	nxt_light(Light,force),
	Light > 60, Light < 66, 
	write("znalazlem czerwony").

run :- nxt_go_cm(800,50, force),
    nxt_play_tone(500, 2000), stop.