function turnTo(angle) {
  const epsilon = 0.01;
  let delta = 0;

  do {
    delta = angle - getHeading();

    if (Math.abs(delta) > epsilon) {
      let v = Math.min(1, Math.abs(delta));

      if (delta > 0) {
        setLeftPower(v);
        setRightPower(-v);
      } else {
        setLeftPower(-v);
        setRightPower(v);
      }
    } else {
      setLeftPower(0);
      setRightPower(0);
    }
  } while (
    Math.abs(delta) > epsilon ||
    Math.abs(getAngularVelocity()) > epsilon
  )
}

function pixelLocation(tile) {
  return 32 + (tile * 64);
}

function face(xTile, yTile) {
  let dx = pixelLocation(xTile) - getX();
  let dy = pixelLocation(yTile) - getY();

  let angle = Math.atan2(dy, dx);
  turnTo(angle);
}

function magnitude(x, y) {
  return Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2));
}

function forward(distance) {
  clearCollision();

  const startX = getX();
  const startY = getY();
  const epsilon = 5;

  let travelled = 0;
  let delta = 0;
  let velocity = 0;

  do {
    travelled = magnitude(getX() - startX, getY() - startY);
    delta = distance - travelled;
    velocity = magnitude(getVelocityX(), getVelocityY());

    if (Math.abs(delta) > epsilon) {
      let v = Math.min(1, Math.abs(delta) / 50);

      if (delta > 0) {
        setLeftPower(v);
        setRightPower(v);
      } else {
        setLeftPower(-v);
        setRightPower(-v);
      }
    } else {
      setLeftPower(0);
      setRightPower(0);
    }
  } while (
    !isCollisionDetected() && (
      Math.abs(delta) > epsilon ||
      Math.abs(velocity) > 0.1
    )
  )

  setLeftPower(0);
  setRightPower(0);
}

function moveTo(xTile, yTile) {
  face(xTile, yTile);

  let dx = pixelLocation(xTile) - getX();
  let dy = pixelLocation(yTile) - getY();
  let distance = magnitude(dx, dy);

  forward(distance);
}

function backOff() {
  const d = 5;
  const startX = getX();
  const startY = getY();

  let travelled = 0;

  do {
    travelled = magnitude(getX() - startX, getY() - startY);

    if (travelled < d) {
      setLeftPower(-0.1);
      setRightPower(-0.1);
    }
  } while (travelled < d)

  setLeftPower(0);
  setRightPower(0);
}

// PARAMETERS:
// "X" and "Y" are the coordinates
// "D" is the distance the jelly has reached
function flood(x, y, d) {
  let grid = [];

  for (let y = 0; y < 10; y++) {
    let row = [];
    for (let x = 0; x < 10; x++) {
      row[x] = true;
    }
    grid[y] = row;
  }
}

moveTo(1, 0);
moveTo(1, 1);

if (isCollisionDetected()) {
  backOff();
  moveTo(2, 0);
} else {
  moveTo(1, 2);
}