// ForwardAvoid.java
// 
// Code to start up a behavior-based controller,
// based on the original code by Simon Parsons, 2013.
//
// Terry Payne
// 6th October 2017
//


import lejos.robotics.subsumption.Arbitrator;
import lejos.robotics.subsumption.Behavior;

public class ForwardAvoid {
	
	public static void main(String[] args) {
		// Which robot are we controlling?
		SimpleRobot me = new SimpleRobot();

		// Setup the monitor
		// This isn't necessary for the behavior-based control.
		RobotMonitor rm = new RobotMonitor(me, 300);
		rm.start();

		// Set up an arbitrator
		Behavior b1 = new ForwardBehaviour(me);
		Behavior b2 = new AvoidBehaviour(me);
		Behavior[] bArray = {b1, b2};
		Arbitrator arb = new Arbitrator(bArray, true);
		arb.go();

	}
}