basic behaviors
Speed and direction controlled independently
turnRate = 4.0; // Sharp right turn to follow the wall
} else if (state[5] == FAR || state[1] == NEAR || state[2] == NEAR) {
turnRate = 2.0; // Shallow right for left collision, or drift away from wall
} else if (state[3] != FAR || state[4] == NEAR || state[5] == NEAR
turnRate = -2.0; // Shallow left for right or dead on collision,
} // or getting too close to wall