-- This is a very simple EXAMPLE navigation program, which avoids obstacles using the Braitenberg algorithm

if (sim_call_type==sim_childscriptcall_initialization) then 
	motorLeft=simGetObjectHandle("Pioneer_p3dx_leftMotor")
	motorRight=simGetObjectHandle("Pioneer_p3dx_rightMotor")
	noDetectionDist=0.5
	maxDetectionDist=0.5
	v0=2.0
    v1=0.5
    vLeft=v0
	vRight=v0 
    laserScannerHandle=simGetObjectHandle("LaserScanner_2D")
	laserScannerObjectName=simGetObjectName(laserScannerHandle) 
    -- is not necessarily "LaserScanner_2D"!!!
	communicationTube=simTubeOpen(0,laserScannerObjectName..'_2D_SCANNER_DATA',1)
end 

if (sim_call_type==sim_childscriptcall_cleanup) then 
 
end 

if (sim_call_type==sim_childscriptcall_actuation) then   
    vLeft=2.0   -- Move Forward
	vRight=2.0 
	-- READ THE DATA:
	valordist=simGetFloatSignal("LaserFrontal")  -- Read Signal
  	if (valordist) then
       if (valordist < 0.5) then
          vLeft=-2.0  -- Turn Left
	      vRight=2.0
       end
    end
 	simSetJointTargetVelocity(motorLeft,vLeft)
	simSetJointTargetVelocity(motorRight,vRight)   
end