import josx.platform.rcx.*;
public class wander {

    public static void main(String[] args)
	throws InterruptedException {
		
		TextLCD.print("Seek");
		
		Motor.A.forward();
		Motor.C.forward();


		//S1 and S3 are each actually a light sensor and a touch sensor
		//I found a trick to just pretend they're light sensors, since the touch
		//sensor will return "100%" when it is activated, otherwise the light's
		//reading is used.  This way, I can have 4 sensors on two ports!
		
		// 3 is the code for light sensor and 0x80 is the code for %
		// 1 is touch and 0x20 would be boolean
		
		Sensor.S1.setTypeAndMode (3, 0x80);
		Sensor.S1.activate();
		Sensor.S1.addSensorListener (new SensorListener() {
			public void stateChanged (Sensor src, 
						  int oldValue, 
						  int newValue) {
			    // Will be called whenever sensor value changes			    
			    if(newValue==100) // if we were just bumped
			    {
			    	//back up
					Motor.A.reverseDirection();
					Motor.C.reverseDirection();
					try {
					    Thread.sleep (1000);
					} catch (InterruptedException e) {}
					
					//turn
					Motor.A.reverseDirection();
					try {
					    Thread.sleep (1000);
					} catch (InterruptedException e) {}
					
					//go forward again
					Motor.C.reverseDirection();
			    }
			    else
			    {
			    	//for now, lets just print the value -- this is where 
			    	//some complicated looking for light code might go
					LCD.showNumber(newValue);
					try {
			        	Thread.sleep (100);
			        } catch (InterruptedException e) {}
				}
			}
		});

		Sensor.S3.setTypeAndMode (3, 0x80);
		Sensor.S3.activate();
		Sensor.S3.addSensorListener (new SensorListener() {
			public void stateChanged (Sensor src, 
						  int oldValue, 
						  int newValue) {
			    if(newValue==100) // if we were just bumped
			    {
			    	// back up!
					Motor.A.reverseDirection();
					Motor.C.reverseDirection();
					try {
					    Thread.sleep (1000);
					} catch (InterruptedException e) {}
				
					// turn
					Motor.C.reverseDirection();
					try {
					    Thread.sleep (1000);
					} catch (InterruptedException e) {}
				
					// go forward again
					Motor.A.reverseDirection();
			    }		
			    else
			    {
					//for now, just print the value -- this is where some 
					//compliciated code for searching for light would go
					LCD.showNumber(newValue);
					try {
			        	Thread.sleep (100);
			        } catch (InterruptedException e) {}
				}
			}
		});
		
		//For now, keep running until told to stop
		Button.RUN.waitForPressAndRelease();
	}

}