def isTooClose(inp):
    for x in range(0,8):
        if inp.sonars[x]<=.3:
            return True;
    return False;

GoalGenerator = ffSkeleton.FollowFigure(squarePoints);
DynamicMoveToPoint = dynamicMoveToPointSkeleton.DynamicMoveToPoint()
mySM = sm.Cascade(sm.Parallel(GoalGenerator,sm.Wire())
                              ,DynamicMoveToPoint)

mySM = sm.Switch(isTooClose, sm.Constant(io.Action()), mySM)