#FORMAT python

from pyrobot.brain import Brain

class Avoid(Brain):

    def wander(self, minSide):
        # if approaching an obstacle to the left side, turn right
        if min([s.distance() for s in self.robot.range["front-left"]]) < minSide:
            self.move(0,-0.3)
        # if approaching an obstacle to the right side, turn left
        elif min([s.distance() for s in self.robot.range["front-right"]]) < minSide:
            self.move(0,0.3)
        else: # go forward
            self.move(0.5, 0)

    def step(self):
        self.wander(1)

def INIT(engine):
   return Avoid('Avoid', engine)