we use a two layer structure, in which the
ultrasound sensorsf analog value will be the inputs to the
SNNf s pre-synaptic neurons and the analog values from the
post-synaptic neurons will be the outputs to the actuators. So in
the case of the right edge following behaviour, using the two
right side sensors means we will have two pre-synaptic
neurons. As we have two actuators which are the left and right
motor speeds, we have two post-synaptic neurons and thus we
will have four weights connecting the two pre-synaptic neurons
to the two post-synaptic neurons.