package RCX4;

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

/**
 *Manages sensors.
 */
public class Senses{
    public static int white, black;
    public static Sensor angleSensor, lightSensor;
    public static ProximitySensor proxSensor;
    
    /**
     *Initializes the sensors.
     */
    public static void init(){
	lightSensor = Sensor.S2;
	angleSensor = Sensor.S3;
	
	lightSensor.setTypeAndMode(SensorConstants.SENSOR_TYPE_LIGHT,
				    SensorConstants.SENSOR_MODE_PCT);
	angleSensor.setTypeAndMode(SensorConstants.SENSOR_TYPE_ROT,
				    SensorConstants.SENSOR_MODE_ANGLE);
	lightSensor.activate();
	angleSensor.activate();
	
	defineWhite();
	defineBlack();
	
	LightListener lightL = new LightListener();
	lightSensor.addSensorListener(lightL);
	
	RotationListener rotL = new RotationListener();
	angleSensor.addSensorListener(rotL);
	
	proxSensor = new ProximitySensor(Sensor.S1, 17);
	ProxListener proxL = new ProxListener(proxSensor);
    }//init
    
    /**
     *Deactivates sensors. proxSensor's Sensor.S1 must be reactivated manually.
     */
    public static void deactivateSensors(){
	lightSensor.passivate();
	angleSensor.passivate();
	Sensor.S1.passivate();
    }
    /**
     *Defines what white is for the light sensor. Waits for user to press the
     *View button then sets and echoes the value.
     */
    private static void defineWhite(){
	try{
	    TextLCD.print("white");
	    Button.VIEW.waitForPressAndRelease();
	    white = Sensor.S2.readValue();
	    Sound.beep();
	    LCD.showNumber(white);
	    Thread.sleep(750);
	    LCD.clear();
	}catch (InterruptedException ie){
	    Sound.buzz();
	    TextLCD.print("Fail");
	}
    }//defineWhite
    
    /**
     *Defines what black is for the light sensor. Waits for user to press the
     *View button, then sets and echoes the value.
     */
    private static void defineBlack(){
	try{
	    TextLCD.print("black");
	    Button.VIEW.waitForPressAndRelease();
	    black = Sensor.S2.readValue();
	    Sound.beep();
	    LCD.showNumber(black);
	    Thread.sleep(750);
	    LCD.clear();
	}catch (InterruptedException ie){
	    Sound.buzz();
	    TextLCD.print("Fail");
	}
    }//defineBlack
    
    /**
     *Returns true if sensor is over white, black if over black.
     */
    public static boolean getBlackOrWhite(){
	final int TOLERANCE = 5;
	if (lightSensor.readValue() >= white-TOLERANCE){
	    return true;
	}else if (lightSensor.readValue() <= white-TOLERANCE){
	    return false;
	}else{return false;}
    }
}