// RobotMonitor.java
//
// A program that displays robot state on the LCD screen.
//
// Simon Parsons
// 17th October
//
// Based on Davide Grossi's RobotMonitor.java

import java.lang.Thread;
import lejos.nxt.*;

public class RobotMonitor extends Thread{
    private int delay;
    public StandardRobot robot;
    
    // Make the monitor a daemon and set the robot it monitors and the delay
    public RobotMonitor(StandardRobot r, int d){
	this.setDaemon(true);
	delay = d;
	robot = r;
    }
	
    // The monitor writes various bits of robot state to the screen, then
    // sleeps.
    public void run(){
	while(true){
	    LCD.clear();
	    LCD.drawString("LBump  = "+robot.isLeftBumpPressed(), 0, 0);
	    LCD.drawString("RBump  = "+robot.isRightBumpPressed(), 0, 1);
	    LCD.drawString("Ultra  = "+robot.getUSenseRange(), 0, 2);
	    LCD.drawString("Colour = "+robot.getCSenseColor(), 0, 3);
	    try{
		sleep(delay);
	    }
	    catch(Exception e){
		// We have no exception handling
		;
	    }
	}
    }
}