// AvoidBehavior.java
//
// A behaviour for the LeJOS behavior-based approach. 
// Backs up and turns if it finds an obstacle.
// Based on the original code by Simon Parsons, 2013.
//
// Terry Payne
// 6th October 2017
//

import lejos.robotics.subsumption.Behavior;

public class AvoidBehaviour implements Behavior{
    public boolean suppressed;
    private SimpleRobot robot;
    
    public AvoidBehaviour(SimpleRobot r){
    	robot = r;
    }
    
    public void suppress(){
    	suppressed = true;
    }

    // Back up, turn and then quit safely by stopping the motors. Since this
    // is meant to be a short, high priority, behaviour, it doesn't do being
    // suppressed.
    public void action(){
    	robot.reverseMotors();
    	try{
    		Thread.sleep(2000);
    	} catch(Exception e){
    	}
    	robot.turnMotors(true);
    	try{
    		Thread.sleep(2000);
    	} catch(Exception e){
    	}
    	robot.stopMotors();
    }
    
    // Take control if the robot hits something
    public boolean takeControl(){
    	return (robot.isLeftBumpPressed() || robot.isRightBumpPressed());
    }

}