/*
 * RobotControl.java
 *
 * This is the control mechanism for the Robot arm - this is the part
 * of the program that you are required to implement.
 *
 * There are three separate methods which correspond to the the
 * three scenarios your control mechanism needs to be able to handle -
 * if you are going to start with scenario A and then move onto
 * scenarios B and C later then you can finish the control mechanism
 * for scenario first and then implement your control mechanism for
 * scenarios B and C in the corresponding empty control methods.
 *
 * You do not need to do anything for the Robot itself as it has
 * already been fully implemented - you just need to supply the control
 * mechanism(s) to make it move blocks from the source pile to their
 * corresponding target piles.
 */

import javax.swing.*;
import java.util.Scanner;


class RobotControl
{
   private Robot r;

   public RobotControl(Robot r)
   {
      this.r = r;
   }

   public void control(int[] barHeights, int[] blockHeights)
   {








      /*
       * This is the starting point for handling scenario A
       */

      //controlMechanismForStageA(barHeights, blockHeights);

      /*
       * comment out the method call above and uncomment the method call below
       * when you're ready to start working on Stage B
       */

       //controlMechanismForStageB(barHeights, blockHeights);

      /*
       * comment out the method call above and uncomment the method call below
       * when you're ready to start working on Stage C
       */

       controlMechanismForStageC(barHeights, blockHeights);
   }

   /*
    * If you are working through this assignment one scenario at a time then you
    * should start implementing the control mechanism for the basic
    * configuration in stage A here.
    */

   public void controlMechanismForStageA(int barHeights[],
                                         int blockHeights[])
   {
      r.slowDown(2);

      // variables representing the initial state of the robot arm -
      // you can update these as needed when performing the different
      // moves to keep track of the position of the robot arm

      int h = 1;
      int w = 1;
      int d = 1;

      // variable representing the height the robot arm needs to
      // move down to when picking up a block
      int sourceHeight = 9;

      // variable representing the column (bar) the current block
      // is to be dropped on
      int targetColumn = 4;

      // variable representing the safe clearance height
      int clearanceHeight = 13;


      // move first section of arm up initially to a safe position



      // loop which repeats sequence of moves for one block

	  // to many bloody comments in this code

	  	/*it has come to my mind if we made 2 arrys one for down upo and pick and put it in order
	  	 *  then the other for ints could we get away with only one for loop ?
	  	 */
  	for (int i = 0; i<9;i++)
  		r.up();
  	for (int i = 0; i<9;i++)
  		r.extend();
  	for (int i = 0; i<1;i++)
  		r.lower();
  	r.pick();
  	for (int i = 0; i<1;i++)
  		r.raise();
  	for (int i = 0; i<6;i++)
  		r.contract();
  	for (int i = 0; i<2;i++)
  		r.down();
  	r.drop();
  	for (int i = 0; i<6;i++)
  		r.extend();
  	for (int i = 0; i<2;i++)
  		r.lower();
  	r.pick();
  	for (int i = 0; i<3;i++)
  		r.up();
  	for (int i = 0; i<5;i++)
  		r.contract();
  	for (int i = 0; i<1;i++)
  		r.lower();
  	r.drop();
  	for (int i = 0; i<5;i++)
  		r.extend();
  	for (int i = 0; i<5;i++)
  		r.lower();
  	r.pick();
  	for (int i = 0; i<7;i++)
  		r.raise();
  	for (int i = 0; i<4;i++)
  		r.contract();
  	for (int i = 0; i<2;i++)
  		r.lower();
  	r.drop();
  	for (int i = 0; i<5;i++)
  		r.contract();
  	for (int i = 0; i<3;i++)
  		r.raise();
  	for (int i = 0; i<9;i++)
  		r.down();
      {
         // move second section of arm across to source pile

         {
            r.extend();

         }

         // what will the next move of the robot arm be?
         // ...

      }


   }

   /*
    * If you are working through this assignment one scenario at a time then you
    * should start implementing the control mechanism for configuration scenario
    * B here.
    */

   public void controlMechanismForStageB(int barHeights[],
                                         int blockHeights[])
   {

	  	for (int i = 0; i<12;i++)
	  		r.up();
	  	for (int i = 0; i<9;i++)
	  		r.extend();
	  	for (int i = 0; i<=0 + blockHeights[2];i++)
	  		r.lower();
	  	r.pick();
	  	for (int i = 0; i<4;i++)
	  		r.raise();
	  	for (int i = 0; i<6;i++)
	  		r.contract();
	  	for (int i = 0; i<=9 - barHeights[0];i++)
	  		r.lower();
	  	r.drop();
	  	for (int i = 0; i<=9 - barHeights[0];i++)
	  		r.raise();
	  	for (int i = 0; i<6;i++)
	  		r.extend();
	  	for (int i = 0; i<=0 + blockHeights[2]+ blockHeights[1];i++)
	  		r.lower();
	  	r.pick();
	  	for (int i = 0; i<13 - blockHeights[1]- blockHeights[2];i++)
	  		r.raise();
	  	for (int i = 0; i<5;i++)
	  		r.contract();
	  	for (int i = 0; i<=9 - barHeights[1];i++)
	  		r.lower();
	  	r.drop();
	  	for (int i = 0; i<=9 - barHeights[1];i++)
	  		r.raise();
	  	for (int i = 0; i<5;i++)
	  		r.extend();
	  	for (int i = 0; i<=0 + blockHeights[0]+ blockHeights[1]+ blockHeights[2];i++)
	  		r.lower();
	  	r.pick();
	  	for (int i = 0; i<13 - blockHeights[2];i++)
	  		r.raise();
	  	for (int i = 0; i<4;i++)
	  		r.contract();
	  	for (int i = 0; i<10 - barHeights[2];i++)
	  		r.lower();
	  	r.drop();
	  	for (int i = 0; i<10 - barHeights[2];i++)
	  		r.raise();
	  	for (int i = 0; i<5;i++)
	  		r.contract();

	  	for (int i = 0; i<12;i++)
	  		r.down();
      // You can copy and paste the code from the stage A mechanism here and
      // start adjusting itstart out writing a completely/*
	  	/* {
           Scanner scan = new Scanner(System.in);
           System.out.print("Enter 6 numbers to adjust the bar heights ");
           int [] barHeights array = new int[6];
           for(int f = 0; f < 6; ++f);*/
   }

   /*
    * If you are working through this assignment one scenario at a time then you
    * should start implementing the control mechanism for configuration scenario
    * C here.
    */
   public void controlMechanismForStageC(int barHeights[],
                                         int blockHeights[])
   {
for (int i = 0; i<12;i++)
r.up();
for (int i = 0; i<9;i++)
r.extend();
for (int i = 0; i<=12 - blockHeights[0]- blockHeights[1]- blockHeights[2];i++)
r.lower();
r.pick();
for (int i = 0; i<=12 - blockHeights[0]- blockHeights[1]- blockHeights[2];i++)
r.raise();

if (blockHeights[0] <=3 (int i = 0i<=6;i++)){
}else if (blockHeights[0] <=2 (int i = 0; i<=7;i++)){
}else (int i = 0; i<=5;i++))
r.contract();

for (int i = 0; i<=12 - barHeights[0] - blockHeights[2];i++)
r.lower();
r.drop();
for (int i = 0; i<=9 - barHeights[0];i++)
r.raise();
for (int i = 0; i<6;i++)
r.extend();
for (int i = 0; i<=12 - blockHeights[0]- blockHeights[1];i++)
r.lower();
r.pick();
for (int i = 0; i<=12 - blockHeights[0]- blockHeights[1];i++)
r.raise();
for (int i = 0; i<5;i++)
r.contract();
for (int i = 0; i<=12 - barHeights[1] - blockHeights[1];i++)
r.lower();
r.drop();
for (int i = 0; i<=9 - barHeights[1];i++)
r.raise();
for (int i = 0; i<5;i++)
r.extend();
for (int i = 0; i<=12 - blockHeights[0];i++)
r.lower();
r.pick();
for (int i = 0; i<=12 - blockHeights[0];i++)
r.raise();
for (int i = 0; i<4;i++)
r.contract();
for (int i = 0; i<=12 - barHeights[2] - blockHeights[0];i++)
r.lower();
r.drop();
for (int i = 0; i<10 - barHeights[2];i++)
r.raise();
for (int i = 0; i<5;i++)
r.contract();

for (int i = 0; i<12;i++)
r.down();

   }
}