package com.watson;

import com.watson.listeners.*;

import com.watson.notifiers.*;

import lejos.nxt.*;

public class RobotSystem {

// When the system is created

private CanSensedListener csl;

private CanTouchListener ctl;

private LineDetectListener ldl;

private TimerCompleteListener tcl;

private CanSenseNotifier csn;

private CanTouchNotifier ctn;

private LineDetectNotifier ldn;

public RobotSystem(){

csl = new CanSensedListener();

ctl = new CanTouchListener();

ldl = new LineDetectListener();

tcl = new TimerCompleteListener();

csn = new CanSenseNotifier();

ctn = new CanTouchNotifier();

ldn = new LineDetectNotifier();

ldn.register(ldl);

// Let canSenseListener be a new CanSenseListeners

// Let canTouchListener be a new CanTouchListener

// Let lineDetectListener be a new LineDetectListener

// Let timeCompleteListener be a new TimeCompletedListener

// Let timerListenerAndTime be a new TimerListenerAndTime

}

public void test() {

// LightSensor ls = new LightSensor(SensorPort.S1);

// LCD.drawString("" + ls.readNormalizedValue(), 0, 0);

// Button.waitForAnyPress();

// ls.calibrateHigh();

// Button.waitForAnyPress();

// ls.calibrateLow();

// while(true) {

// LCD.drawString("" + ls.readNormalizedValue(), 0, 0);

// }

while(true) {

UltrasonicSensor us = new UltrasonicSensor(SensorPort.S4);

LCD.drawString("" + us.getRange(), 0, 0);

}

}

// Search for can

public void searchForCan() {

csn.register(csl);

ctn.register(ctl);

rotate();

// Register canSenseListener

// Register canTouchListener

// Rotate

}

//Set timerListenerAndTimes listener to be timeCompleteListener

// Set timerListenerAndTimes time to be 60 seconds

//

// Register lineDetectListener

// Register timeListenerAndTime

// Rotate

public void rotate() {

// Move one motor forward

// Move second motor backward

Motor.B.setSpeed(150);

Motor.C.setSpeed(120);

Motor.B.forward();

Motor.C.backward();

}

// Move Forward

// Move both motors forward

public void moveForward() {

LCD.drawString("Move State", 0, 0);

Motor.B.setSpeed(300);

Motor.C.setSpeed(300);

Motor.B.forward();

Motor.C.forward();

}

//

// Move Can

public void moveCan() {

tone();

// Move forward

// Play solid tone

}

// Move Backward

public void moveBackward() {

LCD.drawString("Backward State", 0, 0);

csn.unregister(csl);

ctn.unregister(ctl);

Motor.B.setSpeed(300);

Motor.C.setSpeed(280);

Motor.B.backward();

Motor.C.backward();

beep();

//todo implement timer here

try {

Thread.sleep(2000);

} catch (InterruptedException e) {

e.printStackTrace();

}

searchForCan();

// Unregister canSenseListener

// Unregister canTouchListener

// Let backupTimerListernerAndTime be a new TimerListnerAndTime

// Let timeCompleteListener be a new TimeComleteListener

// Let time be 3 seconds

// Set backupTimerListernerAndTime TimeListener

// Register timeCompleteListener with Timer Notifier

// Loop until notified by timer or line sensor...

// Move both motors backward

// Play beep

// ...

// Search for Can

}

// Stop

public void stop() {

LCD.drawString("Stop State", 0, 0);

Motor.B.stop();

Motor.C.stop();

}

// Stop motors from moving forwards or backwards

//

// Beep

public void beep() {

//todo may change to beep

Sound.beep();

Thread.sleep(500);

Sound.beep();

Thread.sleep(500);

Sound.beep();

// Play beep

}

//Solid Tone

public void tone() {

//todo figure out solid tone

// Play solid tone

Sound.playTone(1000, 3000);

}

// Celebration Music

public void celebrationMusic() {

// Play celebration music

}

}