diff --git a/simulator/src/main.rs b/simulator/src/main.rs
index ed9c376..3de3acb 100644
--- a/simulator/src/main.rs
+++ b/simulator/src/main.rs
@@ -36,12 +36,12 @@ impl Robot {
         Vec2::new(self.pose.rotation.re, self.pose.rotation.im)
     }
 
-    pub fn draw(&self) {
+    pub fn draw(&self, color: Color) {
         let tl = self.pose.translation;
         let tl2 = self.view_end();
         draw_circle(tl.x, tl.y, BOT_RADIUS, BLACK);
         draw_line(tl.x, tl.y, tl2.x, tl2.y, 2.0, BLUE);
-        draw_circle(tl.x, tl.y, BOT_RADIUS-1.0, RED);
+        draw_circle(tl.x, tl.y, BOT_RADIUS-1.0, color);
     }
 
     fn view_end(&self) -> Vec2 {
@@ -108,16 +108,32 @@ impl Food {
 async fn main() {
 
     let mut robots = Vec::new();
-    robots.push(Robot::new(Vec2 { x: 100.0, y: 100.0 }));
-    robots.push(Robot::new(Vec2 { x: 140.0, y: 100.0 }));
-    robots.push(Robot::new(Vec2 { x: 140.0, y: 200.0 }));
-    robots.push(Robot::new(Vec2 { x: 180.0, y: 150.0 }));
+    let mut blu_robots = Vec::new();
+
+    for i in 5..20 {
+        robots.push(Robot::new(Vec2 { x: 150.0, y: i as f32*50.0 }));
+    }
+
+    for i in 5..20 {
+        blu_robots.push(Robot::new(Vec2 { x: 850.0, y: i as f32*50.0 }));
+    }
 
     let mut food = Vec::new();
     food.push(Food::new(Vec2 { x: 160.0, y: 100.0 }));
     food.push(Food::new(Vec2 { x: 360.0, y: 100.0 }));
     food.push(Food::new(Vec2 { x: 360.0, y: 300.0 }));
+    food.push(Food::new(Vec2 { x: 360.0, y: 400.0 }));
+    food.push(Food::new(Vec2 { x: 460.0, y: 400.0 }));
+    food.push(Food::new(Vec2 { x: 260.0, y: 400.0 }));
 
+    for j in 10..30 {
+        for i in 5..20 {
+            food.push(Food::new(Vec2 { x: i as f32*60.0, y: j as f32*50.0 }));
+        }
+    }
+
+
+    let mut loo = 0;
     loop {
         clear_background(LIGHTGRAY);
 
@@ -133,21 +149,26 @@ async fn main() {
         food = food.into_iter().filter(|f| f.alive).collect(); // remove dead food
 
         let mut sensors = Vec::new();
-        for robot in &robots {
-            println!("loop");
-            let detect_food = robot.detect(food.iter().map(Food::collider));
-            let detect_kin = robot.detect(robots.iter().filter(|r| !ptr::eq(&**r , &**&robot)).map(Robot::collider));
-            let mut sensor = if detect_food.is_some() {Sensor::Food} else {Sensor::None};
-            if detect_kin.is_some() {sensor = Sensor::Kin}
-            println!("Food detection: {:?}",detect_food);
-            println!("Kin detection: {:?}",detect_kin);
-            sensors.push(sensor);
-        }
-        for (idx, robot) in robots.iter_mut().enumerate() {
-            robot.policy(&sensors[idx]);
-            robot.draw();
+        for (robots, color) in [(&mut robots, RED), (&mut blu_robots, BLUE)] {
+            for robot in &*robots {
+                println!("loop");
+                let detect_food = robot.detect(food.iter().map(Food::collider));
+                let detect_kin = robot.detect(robots.iter().filter(|r| !ptr::eq(&**r , &**&robot)).map(Robot::collider));
+                let mut sensor = if detect_food.is_some() {Sensor::Food} else {Sensor::None};
+                if detect_kin.is_some() {sensor = Sensor::Kin}
+                println!("Food detection: {:?}",detect_food);
+                println!("Kin detection: {:?}",detect_kin);
+                sensors.push(sensor);
+            }
+            for (idx, robot) in robots.iter_mut().enumerate() {
+                robot.policy(&sensors[idx]);
+                robot.draw(color);
+            }
         }
         draw_text("HELLO", 20.0, 20.0, 30.0, DARKGRAY);
-        next_frame().await // TODO: framerate cap
+        loo += 1;
+        if loo %2 == 0 {
+            next_frame().await // TODO: framerate cap
+        }
     }
 }