package RCX4;

import josx.platform.rcx.*;
import josx.robotics.*;

/**
*Guides the robot over a black line.
*/
public class FollowTheBlackLine implements Behavior{
    boolean goOrNo = true;
    
    /**
     *Makes the robot follow the line.
     */
    public void action() {
	while (goOrNo){
	    while (PrettyBoy.lightFlag){
		Pilot.turnInPlace(true, 2);
	    }
	    Pilot.forward(75);
	    while (!PrettyBoy.lightFlag){
		Pilot.turnInPlace(false, 2);
	    }
	    Pilot.forward(75);
	}
    }
    
    public void suppress() {
	goOrNo = false;
	Pilot.stopAll();
    }
    
    public boolean takeControl() {
	if (!PrettyBoy.b2.detected){
	    return true;
	}else{
	    return false;
	}
    }
    
//run
}//FollowTheBlackLine