public override IEnumerator Enter(Machine owner, Brain controller)
{
mainMachine = owner;
myBrain = controller;
Legs myLegs = myBrain.legs;
separation = new Separation(controller.allObjects);
separation.Init(myLegs);
random = new RandomWalk(1f, 1, 20);
random.Init (myLegs);
avoidWalls = new BoxAvoidance(controller.boxes, 3);
avoidWalls.Init (myLegs);
avoidWalls.setWeight(100);
myLegs.addSteeringBehaviour(separation);
myLegs.addSteeringBehaviour(random);
myLegs.addSteeringBehaviour(avoidWalls);
yield return null;
}