;;; -*- lexical-binding: t -*-
;;
;; this file:
;;   https://dataswamp.org/~incal/terror-3/ev3-ir-prox-stop.el

(require 'ev3-ir)
(require 'ev3-motor-rotate)
(require 'ev3-motor-stop)
(require 'ev3-motor-straight)
(require 'ev3-motor-turn)

(defun ir-prox-close-p (dist)
  (let ((stop-dist dist) ; 100 is 70 cm
        (prox (ir-get-prox)) )
    (< prox stop-dist) ))

(defun ir-prox-stop ()
  (interactive)
  (when (moving-forward-p)
    (cond ((ir-prox-close-p 30) (progn (ev3-stop)
                                       (ev3-turn-reverse-right) ))
          ((ir-prox-close-p 40) (ev3-rotate-right))
          ((ir-prox-close-p 60) (ev3-turn-forward-sharp-right))
          ((ir-prox-close-p 90) (ev3-turn-forward-right)) )))

(provide 'ev3-ir-prox-stop)