def explorer(dist=10):
ZumoButton().wait_for_press()
m = Motors()
u = Ultrasonic()
print(u.sensor_get_value())
while u.sensor_get_value() > dist:
m.forward(.2, 0.2)
print(u.value)
m.backward(.1, .5)
m.left(.5,3)
m.right(.5, 3.5)
sleep(2)
while u.sensor_get_value() < dist*5:
m.backward(.2, 0.2)
m.left(.75, 5)
sensobs = [r, u, c]
bbcon.arbitrator = arbitrator
fl = FollowLine(bbcon, sensobs)
ac = AvoidCollisions(bbcon, sensobs)
sp = SnapPhoto(sensobs)
ro = Rotate(sensobs)
st = Stop(bbcon, sensobs)
dc = DoCircles(sensobs)
bbcon.add_behavior(dc)
bbcon.add_behavior(fl)
bbcon.add_behavior(ac)
bbcon.add_behavior(sp)
bbcon.add_behavior(ro)
bbcon.add_behavior(st)
bbcon.add_sensob()
motob = Motob()
bbcon.add_motob(motob)
print("BBController initalized")
print("Behaviors:\n", *bbcon.behaviors, sep="\n")
print("\nSensobs:\n", *bbcon.sensobs, sep="\n")
print("\nMotobs:\n", *bbcon.motob, sep="\n")
while True:
bbcon.run_one_timestep()
print(u.sensor_get_value())
