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import lejos.hardware.motor.Motor;
import lejos.hardware.motor.NXTRegulatedMotor;
import lejos.hardware.sensor.NXTLightSensor;
import lejos.robotics.SampleProvider;


public class numberofdegrees {
    public NXTLightSensor sensor;
    public numberofdegrees(NXTLightSensor s){
        this.sensor = s;
    }


    public boolean find_path () {
        NXTRegulatedMotor arm = Motor.D;
        int middle_positon = 0;
        int minpos = middle_positon - 80;
        int maxpos = middle_positon + 80;
        double pad_ambient = 0.42; // waarde tussen 1 en 0
        int armspeed = 200;
        boolean klaar = false;
        arm.setSpeed(armspeed);
        SampleProvider sp = sensor.getRedMode();
        float[] sample = new float[sp.sampleSize()];
        arm.forward();// TODO forward of backward?
        while (!(klaar || arm.getTachoCount() >= maxpos) ){
            sp.fetchSample(sample, 0);
            System.out.println(sample[0]);
            if (sample[0] > pad_ambient ) {
                arm.stop();
                klaar = true;
            }
        }
        if (!klaar)
            arm.backward();
        while (!(klaar|| arm.getTachoCount() <= minpos)){
            sp.fetchSample(sample, 0);
            System.out.println(sample[0]);
            if (sample[0] > pad_ambient ) {
                arm.stop();
                klaar = true;
            }
        }
        arm.stop();
        if (arm.getTachoCount() <= minpos)
            arm.rotateTo(middle_positon);
        System.out.println("juhgfced");

        return false;
    }

}