function setup() {
  this.maxSpeed = 1600;
  this.minSpeed = 1400;
  this.TakeLeftPath = true;
}

function loop(sensors) {
  this.sensors=sensors.toJS();
  DecideNextMove(this);

}

// rotates in place to the left
function setRotateLeftInPlace(robot){
  robot.leftWheel = robot.minSpeed;
  robot.rightWheel = robot.minSpeed;
}

// rotates in place to the right
function setRotateRightInPlace(robot){
  robot.leftWheel = robot.maxSpeed;
  robot.rightWheel = robot.maxSpeed;
}
// sets speeds to go straight
function setGoStraight(robot){
  robot.leftWheel = robot.maxSpeed;
  robot.rightWheel = robot.minSpeed;
}

// sets speeds to go straight
function setGoStraightReverse(robot){
  robot.leftWheel = robot.minSpeed;
  robot.rightWheel = robot.maxSpeed;
}

function DecideNextMove(robot){
  var result = 0;
  for(i = 0; i < 5; i++){
    result = result<<1;
    result += robot.sensors[i] ? 1 : 0;
  }
  //
  // what interests us
  // 0 0 1 0 0 -> go straight // 4
  // 0 1 0 0 0 -> turn left // 8
  // 0 0 0 1 0 -> turn right // 2

  switch(result){
    case 2:
      setRotateLeftInPlace(robot);
      break;
    case 4:
      setGoStraight(robot);
      break;
    case 8:
      setRotateLeftInPlace(robot);
      break;
  }

  }