import lejos.robotics.subsumption.Behavior;

/* 
 * Bounce behavior checks for a black line. If it encounters it, it
 * causes the robot to "bounce back", i.e. to drive backwards and to
 * rotate. That behavior should trap the robot inside a black circle.
 * Should have high or highest priority.
 */
public class Bounce implements Behavior
{
	// boolean variable to allow arbitrator thread to stop the action method
	boolean suspended = false;
	
	@Override
	// Is called by arbitrator thread to check if behavior wants to kick in
	public boolean takeControl() 
	{
		return (MyMain.getLight() < MyMain.zero);
	}

	@Override
	// Is called by arbitrator thread when this behavior takes over. Note that
	// this behavior must quit immediately as soon as 'suspended' is true!
	public void action() 
	{
		suspended = false;
		
		MyMain.leftMotor.setSpeed(MyMain.TURN_SPEED);
		MyMain.rightMotor.setSpeed(MyMain.TURN_SPEED);
		
		MyMain.leftMotor.rotate(-300, true);
		MyMain.rightMotor.rotate(-300, true);
		
		while (MyMain.leftMotor.isMoving() && (!suspended))
		{
			Thread.yield();
		}
		
		if (!suspended)
		{
			MyMain.leftMotor.rotate(-300, true);
			MyMain.rightMotor.rotate(300, true);
			
			while (MyMain.leftMotor.isMoving() && (!suspended))
			{
				Thread.yield();
			}
		}
		
		MyMain.leftMotor.stop(true);
		MyMain.rightMotor.stop();
	}

	@Override
	// Is called by arbitrator thread to stop this behavior.
	public void suppress() 
	{
		suspended = true;	
	}

}