way to achieve this is to calculate the median of the last $n$ values. This should give a more accurate view of the environment, since extreme values would not be chosen.

Motors
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The kit includes three servo motors, each containing a rotation sensor enabling the user to control the movement of a robot very precisely[^1]. It should also be possible to add motors from the previous version of Lego Mindstorms, but this will not be considered here.

A motor can move forward or backwards continuously at a given speed. It can also be controlled to rotate a number of degrees or even to rotate *to* a given degree. The extension to the *Jason* framework will include features allowing agents to move forward, backwards and a rotate number of degrees. This should enable the robots to move around continuously and precisely rotate the motors to adjust to changes in the environment.

The motor also allows for other possibilities and it is also possible to get values from the motor, such as its current speed and angle. This could be used to let the robot increase speed until it has reached some value. I will not go further into details with 