#FORMAT python
# robot goes forward and then slows to a stop when it detects something 
  
from pyrobot.brain import Brain 
from pyrobot.brain.conx import * 
from time import * 
  
class NNBrain(Brain): 
          
   # Give the front two sensors, decide the next move 
   def determineMove(self, front): 
      if front[0] < 0.5 or front[1] < 0.5:   # about to hit soon, STOP 
         print "collision imminent, stopped" 
         return(0) 
      elif front[0] < 0.8 or front[1] < 0.8:  # detecting something, SLOWDOWN 
         print "object detected" 
         return(0.1) 
      else: 
         print "clear"      # all clear, FORWARD 
         return(0.3)
     
   def step(self): 
      front = [s.distance() for s in self.robot.range["front"]]
      translation = self.determineMove(front) 
      print "front sensors", front[0], front[1] 
      self.move(translation, 0.0) 
        
def INIT(engine): 
   return NNBrain('NNBrain', engine)