1. using System.Collections;
2. using System.Collections.Generic;
3. using UnityEngine;
4.  
5. public class Control : MonoBehaviour
6. {
7.     public bool ReadyToExecute;
8.     public bool wasToRight;
9.     public bool done;
10.     // Start is called before the first frame update
11.     void Start()
12.     {
13.         done = false;
14.         ReadyToExecute = true;
15.         wasToRight = false;
16.     }
17.  
18.     // Update is called once per frame
19.     void Update()
20.     {
21.         if(!done)
22.         {
23.             Main();
24.         }
25.        
26.     }
27.  
28.     public void Main()
29.     {
30.         if(ReadyToExecute)
31.         {
32.             CheckSensors();
33.             Debug.Log("Checking Sensors...");
34.             ReadyToExecute = false;
35.         }
36.     }
37.     public IEnumerator MoveForward()
38.     {
39.         Debug.Log("Moving forward...");
40.         for (int i = 0; i < 180; i++)
41.         {
42.             this.transform.position += (this.transform.forward / 180);
43.             yield return null;
44.         }
45.         SetReady();
46.     }
47.  
48.     public IEnumerator TurnCCW()
49.     {
50.         Debug.Log("Turning...");
51.         for (int i = 0; i < 180; i++)
52.         {
53.             this.transform.Rotate(new Vector3(0f, -0.5f, 0f));
54.             yield return null;
55.         }
56.         SetReady();
57.     }
58.  
59.     public IEnumerator TurnCW()
60.     {
61.         Debug.Log("Turning...");
62.         for (int i = 0; i < 180; i++)
63.         {
64.             this.transform.Rotate(new Vector3(0f, 0.5f, 0f));
65.             yield return null;
66.         }
67.         SetReady();
68.     }
69.  
70.     public void SetReady()
71.     {
72.         if (!ReadyToExecute)
73.             ReadyToExecute = true;
74.     }
75.  
76.     public void CheckSensors()
77.     {
78.         bool inFront = false;
79.         bool toRight = false;
80.  
81.         RaycastHit hit;
82.         if (Physics.Raycast(transform.position, this.transform.forward, out hit, 0.7f))
83.         {
84.             Debug.Log("There is something in front of me!");
85.             inFront = true;
86.         }
87.         if (Physics.Raycast(transform.position, this.transform.right, out hit, 0.7f))
88.         {
89.             Debug.Log("There is something to the right of me!");
90.             toRight = true;
91.         }
92.         if(inFront == false && toRight == false) //No walls around
93.         {
94.             if (wasToRight == false)
95.             {
96.                 StartCoroutine(MoveForward());
97.                 Debug.Log("No walls to left or right sensed.");
98.             }
99.             else
100.             {
101.                 StartCoroutine(TurnCW());
102.                 Debug.Log("No walls to left or right sensed. There was previously a wall to right.");
103.                 wasToRight = false;
104.             }
105.         }
106.         else if(inFront == true) //Wall in front
107.         {
108.             StartCoroutine(TurnCCW());
109.             Debug.Log("Wall in front sensed.");
110.             wasToRight = false;
111.         }
112.         else if (inFront == false && toRight == true) //Wall to the right only
113.         {
114.             StartCoroutine(MoveForward());
115.             Debug.Log("Wall to the right only sensed.");
116.             wasToRight = true;
117.         }
118.     }
119.  
120.     public void turnOff()
121.     {
122.         done = true;
123.     }
124. }
125.