// ForwardBehavior.java
//
// A behaviour for the LeJOS behaviour-based approach. 
// Drives the robot forward, based on the original 
// code by Simon Parsons, 2013.
//
// Terry Payne
// 6th October 2017
//

import lejos.robotics.subsumption.Behavior;

public class ForwardBehaviour implements Behavior{
    public boolean suppressed;
    private SimpleRobot robot;
    
    public ForwardBehaviour(SimpleRobot r){
    	robot = r;
    }
    
    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();
    }

    public boolean takeControl(){
    	return true;	
    }

}