/*
 * This program version begins with testing how sensation works, and moves the
 * thing forward.
 * 
 * *******************
 * Julie Powers-Boyle
 * 20060215 Wed, Programming WS
 * $ID
 * *******************
 */

import josx.platform.rcx.*;

public class SimpleNav implements SensorConstants{

    public static void main (String[] args) throws InterruptedException {
	
	//Don't run away until someone says to do so
	Button.RUN.waitForPressAndRelease();
	Sensor.S2.setTypeAndMode(SENSOR_TYPE_LIGHT, SENSOR_MODE_PCT);
	Sensor.S2.activate();
	String lightText = "100";
	int lightValue = 100;

	//Now start moving forward when there's something dark
	while (lightValue > 75){
	    
	    lightValue = Sensor.S2.readValue();
            lightText = Integer.toString(lightValue);
	    TextLCD.print (lightText);
	    Motor.A.forward();
	    Motor.C.forward();
	    Thread.sleep(1000);
	}
	
	Motor.A.stop();
	Motor.C.stop();
	Button.RUN.waitForPressAndRelease();

    }
}