package RCX2;

import josx.platform.rcx.*;

/**
 *holds methods to make the rcx go.
 */
public class Pilot{
    public static Motor engine = Motor.A;
    private static Motor steering = Motor.B;
    public static Servo steer;
    /**
     *Initializes motors.
     */
    public static void init(){
	setupServo();
    }
    /**
     *Reverses for a specified time w/ a specified power.
     *@param	msecs	the number of milliseconds to reverse for, 0=until further notice.
     *		power	the speed at which to reverse (0-7).
     */
    public static void reverse(int msecs, int power){
	try{
	    engine.setPower(power);
	    if(msecs > 0){
		engine.backward();
		Thread.sleep(msecs);
		engine.stop();
	    }else if (msecs == 0){
		engine.backward();
	    }
	}catch (InterruptedException ie) {}
    }//reverse
    /**
     *Moves the RCX forward for a specified time and w/ a specified power.
     *@param	msecs	the number of milliseconds to reverse for, 0=until further notice.
     *		power	the speed at which to reverse (0-7).
     */
    public static void forward(int msecs, int power){
	try{
	    engine.setPower(power);
	    if(msecs > 0){
		engine.forward();
		Thread.sleep(msecs);
		engine.stop();
	    }else if (msecs == 0){
		engine.forward();
	    }
	}catch (InterruptedException ie) {}
    }//forward
    private static void setupServo(){
	TextLCD.print("SetF");
	try{Button.VIEW.waitForPressAndRelease();
	}catch (Exception e){}
	steer = new Servo(Sensor.S2, Pilot.steering);
    }
}//Pilot