:- consult('plnxt/plnxt.pl').

check_sonar :-
	nxt_ultrasonic(Value,force),
	Value < 40.

check_touch :-
	nxt_touch(Value,force),
	Value = 1.

check_sound :-
	nxt_sound(Value,force),
	Value > 50.

grab :-
	nxt_stop,
	nxt_pincer(close),
	turn_right.

ungrab :-
	nxt_stop,
	nxt_pincer(open),
	X is -20,
	nxt_go(400,X),
	turn_right.
	

turn_right :-
	nxt_stop,
	nxt_rotate(400,45),
	go_forward.

go_forward :-
	trigger_create(_,check_sonar,[turn_right]),
	trigger_create(_,check_touch,[grab]),
	trigger_create(_,check_sound,[ungrab]),
	nxt_go(400).

start :-
	nxt_open,
	go_forward.