import java.io.File;

import com.neuronrobotics.bowlerstudio.robots.FormacarumRover;
import com.neuronrobotics.bowlerstudio.scripting.ScriptingEngineWidget;
import com.neuronrobotics.sdk.common.DeviceManager;
import com.neuronrobotics.sdk.dyio.DyIO;
import com.neuronrobotics.sdk.util.ThreadUtil;

//run the rover initialization scripts, ignore the display returns
ScriptingEngineWidget.inlineFileScriptRun(new File(System.getProperty("user.home")+"/git/9bbfbcae11130cdd4c3d/RoverStartup.groovy"), null);
DyIO dyio =(DyIO)DeviceManager.getSpecificDevice(DyIO.class, "dyio");
FormacarumRover rover = (FormacarumRover)DeviceManager.getSpecificDevice(FormacarumRover.class, "rover");


System.out.println("Initialized OK, waiting for un-pause");
while(dyio.getValue(23)>0){
	ThreadUtil.wait(10);// wait in pause state
}
System.out.println("Starting run!");

rover.DriveStraight(10000, 15.0);
ThreadUtil.wait(15000);
rover.SetDriveVelocity(0);
boolean b = false;
while(true){
	if(dyio.getValue(23)==0){

		b=!b;
		System.out.println("Running Seek");
		//we are unpaused for this loop, run robot code
		ScriptingEngineWidget.inlineFileScriptRun(new File(System.getProperty("user.home")+"/git/9bbfbcae11130cdd4c3d/SeekObjects.groovy"), null);
		rover.DriveArc(b?1:-1*1000,b?1:-1*90, 5);
		ThreadUtil.wait(10000);
	}
	ThreadUtil.wait(100);
}