// ForwardBehavior.java
//
// A behavior for the LeJOS behavior-based approach. Drives the robot forward.
//
// Simon Parsons
// 17th October 2013
//
// Based on an example at www.lejos.org

import lejos.robotics.subsumption.*;
import lejos.nxt.*;

// Structure follows the basic design pattern for a behavior.
public class ForwardBehavior implements Behavior{
    public boolean suppressed;
    private StandardRobot robot;
    
    public ForwardBehavior(StandardRobot r){
	robot = r;
    }
    
    // Behavior is always ready to take control
    public boolean takeControl(){
	return true;
    }
    
    public void suppress(){
	suppressed = true;
    }
    
    // Start driving and then yield (for a non-busy wait). If
    // suppressed, then stop the motors and quit.
    public void action(){
	suppressed = false;
	robot.startMotors();
	while(!suppressed){
	    Thread.yield();
	}
	robot.stopMotors();
    }
}