using RoboidControl;

class BB2B : Thing {
    readonly DifferentialDrive drive;
    readonly TouchSensor touchLeft;
    readonly TouchSensor touchRight;

    public BB2B() : base(128) { // thingType = 128

        // The robot's propulsion is a differential drive
        drive = new();

        // Is has a touch sensor at the front left of the roboid
        touchLeft = new(drive);
        // and other one on the right
        touchRight = new(drive);
    }

    public override void Update(ulong currentTimeMs, bool recurse = true) {

        // The left wheel turns forward when nothing is touched on the right side
        // and turn backward when the roboid hits something on the right
        float leftWheelSpeed = touchRight.touchedSomething ? -600.0f : 600.0f;

        // The right wheel does the same, but instead is controlled by
        // touches on the left side
        float rightWheelSpeed = touchLeft.touchedSomething ? -600.0f : 600.0f;

        // When both sides are touching something, both wheels will turn backward
        // and the roboid will move backwards

        drive.SetWheelVelocity(leftWheelSpeed, rightWheelSpeed);

        base.Update(currentTimeMs, recurse);
    }
}