/********************
 * JimsRobot.java
 *
 * Playing around with a simple lego robot.
 * Motors A and B run wheels on the two sides of the robot.
 *
 * The main() method that calls these is in RunJimsRobot.java.
 *
 * @author Jim Mahoney
 * @version 1.0, September 30, 2002
 * @see RunJimsRobot
 *
 **/

import josx.platform.rcx.*;

public class JimsRobot {

    // about 1 sec for 20 cm  (Varies depending on friction and battery.)
    final double milliSecPerCm = 1000.0/20.0; 

    // about 1 sec for 100 degrees (Varies)
    final double milliSecPerDeg = 1000.0/100.0;

    // This constructor is here as a placeholder;
    // it doesn't do anything right now.
    JimsRobot(){
    }

    public void makeNoise() throws Exception {
	Sound.beepSequence();
	Thread.sleep(1000); // This beep takes about a second.
    }

    public void goForward(double distanceInCm) throws Exception {
	Motor.A.stop();
	Motor.B.stop();
	Motor.A.setPower(7);
	Motor.B.setPower(7);
	Motor.A.backward();
	Motor.B.forward();
	Thread.sleep((int)(milliSecPerCm*distanceInCm));
	Motor.A.stop();
	Motor.B.stop();
	Thread.sleep(10); // Brief pause to make sure we've really stopped.
    }

    public void goBackward(double distanceInCm) throws Exception {
	Motor.A.stop();
	Motor.B.stop();
	Motor.A.setPower(7);
	Motor.B.setPower(7);
	Motor.A.forward();
	Motor.B.backward();
	Thread.sleep((int)(milliSecPerCm*distanceInCm));
	Motor.A.stop();
	Motor.B.stop();
	Thread.sleep(10); // Brief pause to make sure we've really stopped.
    }

    public void turnRight(double angleInDeg) throws Exception {
	Motor.A.stop();
	Motor.B.stop();
	Motor.A.setPower(7);
	Motor.B.setPower(7);
	Motor.A.forward();
	Motor.B.forward();
	Thread.sleep((int)(milliSecPerDeg*angleInDeg));
	Motor.A.stop();
	Motor.B.stop();
	Thread.sleep(10); // Brief pause to make sure we've really stopped.
    }

    public void turnLeft(double angleInDeg) throws Exception {
	Motor.A.stop();
	Motor.B.stop();
	Motor.A.setPower(7);
	Motor.B.setPower(7);
	Motor.A.backward();
	Motor.B.backward();
	Thread.sleep((int)(milliSecPerDeg*angleInDeg));
	Motor.A.stop();
	Motor.B.stop();
	Thread.sleep(10); // Brief pause to make sure we've really stopped.
    }

    public void waggleDance() throws Exception {
	turnLeft(10.0);
	turnRight(15.0);
	turnLeft(15.0);
	turnRight(10.0);
    }

}