// SimpleDriver.java
// 
// A simple code fragment  that illustrates the use of the EV3 motors,
// based on the original code by Simon Parsons, 2013.
//
// Terry Payne
// 30th September 2017
//
// This demo uses the Button class to determine when to start and stop
// the motors, and then utilises the general Motor class to control each
// motor.  The LCD class is also used to clear the screen, although
// messages are sent using the System.out.println method.

import lejos.hardware.Brick;
import lejos.hardware.BrickFinder;
import lejos.hardware.Button;
import lejos.hardware.lcd.GraphicsLCD;
import lejos.hardware.lcd.LCD;
import lejos.hardware.motor.EV3LargeRegulatedMotor;

public class SimpleDriver {

	public static void main(String[] args) {
		// Get the default instance of the Brick, to get access to its resources
		Brick myEV3 = BrickFinder.getDefault();
		GraphicsLCD lcd = myEV3.getGraphicsLCD();
		EV3LargeRegulatedMotor motorL = new EV3LargeRegulatedMotor(myEV3.getPort("B"));
		EV3LargeRegulatedMotor motorR = new EV3LargeRegulatedMotor(myEV3.getPort("C"));
		
		lcd.drawString("Press any button", 0, 20, GraphicsLCD.VCENTER | GraphicsLCD.LEFT);
		lcd.drawString("to start", 0, 40, GraphicsLCD.VCENTER | GraphicsLCD.LEFT);
        Button.waitForAnyPress();
        LCD.clear();
        motorL.setSpeed(720); 	//  Set the motor to rotate 720 degrees (i.e. 2 revolutions) per sec
        motorR.setSpeed(720); 	//  Set the motor to rotate 720 degrees (i.e. 2 revolutions) per sec
        motorL.forward();
        motorR.forward();

		lcd.drawString("Press ENTER", 0, 30, 0);
		lcd.drawString("to stop", 0, 50, 0);
		while (true) {
	        Button.waitForAnyPress();
	        if (Button.ENTER.isDown()) {
	        	motorL.stop(true);
	        	motorR.stop();
	        	// Note that motor.stop() will only return after the motor has stopped
	        	// (which may take a few hundredths of a millisecond)
	        	// To avoid the method blocking and have it return immediately,
	        	// use the alternative methods:
	        	// 		motor.stop(true);
	        	//		*do stuff unrelated to this motor*
	        	//		motor.waitComplete()
	        	// This is useful if the *do stuff* is, for example, stopping
	        	// the other motor as well!
	    		break;
	        }
		}
		lcd.drawString("Left Tacho: "+motorL.getTachoCount(), 0, 80, 0);
		lcd.drawString("Right Tacho: "+motorR.getTachoCount(), 0, 100, 0);
		motorL.close();
		motorR.close();
        Button.waitForAnyPress();
        lcd.clear();
	}

}