/*
 * rcxTest2.java
 *
 * Created on September 24, 2003, 10:11 PM
 */

package RCX1;

/**
 *
 * @author  Ian Smith-Heisters
 */
import josx.platform.rcx.*;

class RCXTest2 {

    public static int whiteValue;
    public static int blackValue;

    public static void main(String[] args) throws Exception {
	initialize();

	TextLCD.print("DEBUG");
	Thread.sleep(1000);
	Motor.A.forward();
	TextLCD.print("AFor");
	Button.PRGM.waitForPressAndRelease();
	Motor.A.stop();
	Motor.B.forward();
	TextLCD.print("BFor");
	Button.PRGM.waitForPressAndRelease();
	Motor.B.stop();
	Thread.sleep(1000);
	
	
	
	TextLCD.print("Wh");
	Thread.sleep(2000);
	whiteValue = Sensor.S1.readValue();	// define white value.
	Sound.beep();

	TextLCD.print("Bl");
	Thread.sleep(3000);
	blackValue = Sensor.S1.readValue();	// define black value.
	Sound.beep();

	if (whiteValue == blackValue){
	    TextLCD.print("OOPS");
	}else{
	    TextLCD.print("GO");
	}

	while (true){

	    int howFarFromWhite = Math.abs(Sensor.S1.readValue()-whiteValue);
	    int howFarFromBlack = Math.abs(Sensor.S1.readValue()-blackValue);

	    if ( howFarFromWhite < howFarFromBlack ){
		Motor.A.forward();
		Motor.B.stop();
	    }
	    else {
		Motor.A.stop();
		Motor.B.forward();
	    }
	    //Thread.sleep(50);  // to avoid too much jiggling.

	}
    }

    public static void initialize(){
	Sensor.S1.setTypeAndMode(SensorConstants.SENSOR_TYPE_LIGHT,
				 SensorConstants.SENSOR_MODE_PCT);
	Sensor.S1.activate();
	Motor.A.setPower(7);
	Motor.B.setPower(7);
    }

}