diff --git a/simulator/src/main.rs b/simulator/src/main.rs
index 711ebb2..e9f1f70 100644
--- a/simulator/src/main.rs
+++ b/simulator/src/main.rs
@@ -10,7 +10,7 @@ use parry2d::shape::Ball;
 use parry2d::shape::Segment;
 use parry2d::shape::Shape;
 
-const VIEW_DIST: f32 = 80.0;
+const VIEW_DIST: f32 = 180.0;
 const BOT_RADIUS: f32 = 16.0;
 
 struct Robot {
@@ -51,6 +51,13 @@ impl Robot {
             .map(|thing| contact(&Pose2::IDENTITY, &collider, thing.0, thing.1, 0.0).unwrap()).flatten()
             .map(|contact| contact.point1.distance(self.pose.translation)).reduce(|x: f32,y: f32| x.min(y))
     }
+
+    pub fn policy(&mut self, sensor: Sensor){
+        match sensor {
+            Sensor::Food => self.move_step(1.0, 0.0),
+            Sensor::None => self.move_step(1.0, 0.01),
+        }
+    }
 }
 
 struct Food {
@@ -59,6 +66,11 @@ struct Food {
     alive: bool,
 }
 
+enum Sensor {
+    Food,
+    None
+}
+
 impl Food {
     fn new(position: Vec2) -> Self {
         let pose:Pose = Pose::from_translation(position.to_array().into());
@@ -83,9 +95,13 @@ 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 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 }));
 
     loop {
         clear_background(LIGHTGRAY);
@@ -95,9 +111,11 @@ async fn main() {
         }
 
         for robot in &mut robots {
-            robot.move_step(1.1,0.01);
             println!("loop");
-            println!("Food detection: {:?}",robot.detect(food.iter().map(Food::collider)));
+            let detect = robot.detect(food.iter().map(Food::collider));
+            let sensor = if detect.is_some() {Sensor::Food} else {Sensor::None};
+            robot.policy(sensor);
+            println!("Food detection: {:?}",detect);
             robot.draw();
         }
         draw_text("HELLO", 20.0, 20.0, 30.0, DARKGRAY);