Class Roomba extends Actor

fields:
private static final int sensorRadius = 90
private List dirtInRange = getObjectsInRange(sensorRadius, dirt.class)

public void act()
move()
clean()
sense()

public void sense()

double distance = 100;
Actor nearest = null;
for (Object obj = getObjectsInRange(90, Dirt.class))
{
    Actor a = (Actor) obj;
    double r = Math.sqrt(Math.pow(getX()-a.getX(), 2)+Math.pow(getY()-a.getY(), 2));
    if (r<distance)
    {
        nearest = a;
        distance = r;
    }
}
if (nearest != null)
{
    turnTowards(nearest.getX(), nearest.getY());
}

// WARNING: This file is auto-generated and any changes to it will be overwritten
import java.util.*;
import greenfoot.*;
import java.awt.Color;

/**
 * 
 */
public class Roomba extends Actor
{
    /* constants. speed + capacity + sensingRadius/10 must be 20 or less*/
    private static final int speed = 1;
    private static final int capacity = 10;
    private static final int sensorRadius = 90;
    /* variables*/
    private int capacityLeft = capacity;
    private int dirtCounter = 0;
    private int unloadingDelay = 0;
    /* every Roomba has a Base*/
    public Base myBase = null;
    public Dirt myDirt = null;
    /* a list with dirt around the Roomba (useful for sensing?)*/
    private List<Dirt> dirtInRange = getObjectsInRange(sensorRadius, Dirt.class);

    /**
     * 
     */
    public void act()
    {
        /* the next three lines are required for the delay while unloading the dirt*/
        if (unloadingDelay > 0) {
            unloadingDelay = unloadingDelay - 1;
            return;
        }
        /* the next three lines check whether all dirt (25 pieces) has been removed*/
        if (dirtCounter == 25) {
            Greenfoot.stop();
        }
        move();
        clean();
        sense();
        if (capacityLeft == 0) {
            dump();
        }
        if (capacityLeft > 10) {
            sense();
        }
    }


    public void move()
    {
        move(speed);
        if (isTouching(Barrier.class)) {
            turn(Greenfoot.getRandomNumber(9000));
        }
        if (isAtEdge()) {
            turn(Greenfoot.getRandomNumber(9000));
        }
    }


    public void clean()
    {
        if (isTouching(Dirt.class) && capacityLeft > 0) {
            removeTouching(Dirt.class);
            capacityLeft = capacityLeft - 1;
            dirtCounter = dirtCounter + 1;
        }
    }


    public void sense()
    {
        if (dirtInRange != null && capacityLeft > 10) {
            turnTowards(myDirt.getX(), myDirt.getY());
            move();
            if (isTouching(Dirt.class)) {
                removeTouching(Dirt.class);
            }
        }
    }


    public void dump()
    {
        turnTowards(myBase.getX(), myBase.getY());
        move();
        if (isTouching(Base.class)) {
            unload();
        }
    }

    
    public void unload()
    {
        capacityLeft = capacity;
        unloadingDelay = 1000;
    }
}