package RCX3.docs;

import josx.platform.rcx.Motor;
import java.lang.Math;

/**
 *Manages the motors.
 */
public class Pilot {
    public static final Motor engine = Motor.A;//movement motor
    public static final Motor steering = Motor.B;//steering motor
    
    /**
     *Initializes motors.
     */
    public static void init(){
	engine.setPower(7);
	steering.setPower(7);
    }//init
    
    /**
     *Turns the RCX by a given number of degrees.
     *@param direction True for right, False for left.
     *@param degrees The number of degrees to turn.
     */
    public static void turnInPlace(boolean direction, int clicks){
	int initPos = Senses.angleSensor.readValue();
	
	stopAll();
	if (direction){//if turning right
	    steering.backward();
	    while(Senses.angleSensor.readValue() > initPos - clicks){
		;
	    }
	    steering.stop();
	}
	if (!direction){//if turning left
	    steering.forward();
	    while(Senses.angleSensor.readValue() < initPos + clicks){
		;
	    }
	    steering.stop();
	}
    }//turnInPlace
    
    /**
     *Stops all motors.
     */
    public static void stopAll(){
	steering.stop();
	engine.stop();
    }//stopAll
    
    /**
     *Turn right for specified time, 0 for infinite.
     */
    public static void turnRight(int time){
	steering.backward();
	if (time > 0){
	    try{
		Thread.sleep(time);
	    }catch (InterruptedException ie){}
	    steering.stop();
	}
    }//turnRight
    
    /**
     *Turn left for specified time, 0 for infinite.
     */
    public static void turnLeft(int time){
	steering.forward();
	if (time > 0){
	    try{
		Thread.sleep(time);
	    }catch (InterruptedException ie){}
	    steering.stop();
	}
    }//turnLeft
    
    /**
     *Go forward for specified time.
     *@param time Milliseconds to go forward, 0 for infinite.
     */
    public static void forward(int time){
	engine.forward();
	if (time > 0){
	    try{
		Thread.sleep(time);
	    }catch (InterruptedException ie){}
	    engine.stop();
	}
    }//forward
}