public void Step(double[] sensors)
{
var output = getRotationAndVelocity(sensors);
Orientation += output[0];
Orientation += 360;
Orientation %= 360;
Velocity += output[1];
Velocity = Math.Min(MaxVelocity, Math.Max(0, Velocity));
X += Velocity * (float)(Math.Cos(Orientation * Math.PI / 180.0));
Y += Velocity * (float)(Math.Sin(Orientation * Math.PI / 180.0));
}