basic behaviors
if (state[2] == NEAR || state[3] == NEAR || state[4] == NEAR)
speed = -1.0; // Go backwards if we’re running into something
else if (state[6] == FAR)
speed = 2.5; // Slow down a lot if we’re past the end of the wall
else if (state[5] == FAR)
speed = 5.0; // Slow down a little if the wall end is coming
speed = nominalSpeed; // 7.0