def calculate_wall_avoidance(self, walls):
        self.whiskers = util._create_whiskers(self.pos, self.heading)

        #variables for keep track of tallys
        distance_to_intersection_point = 0
        distance_to_closest_intersection_point = sys.float_info.max

        closest_wall = None

        force = Vector2()
        point = Vector2()
        closest_point = Vector2()

        # for each whisker find the closest wall
        for whisker in self.whiskers:
            for wall in self.world.walls:
                intersects,distance,intersecting_point = util.line_intersection_get_distance_point(Vector2(self.pos),
                                                                                                   whisker,
                                                                                                   wall.point1,
                                                                                                   wall.point2)
        
                if intersects:
                    if distance < distance_to_closest_intersection_point:
                        distance_closest_intersection_point = distance
                        closest_wall = wall
                        closest_point = intersecting_point

            # if we found a wall then calculate a steering force based on how far
            # the whisker penetrated the wall
            if closest_wall != None:
                over_shoot = whisker - closest_point
                force = wall.normal * over_shoot.length() * WALL_REPEL_FORCE
                
        return force