BWander.cpp

#include "BWander.h"

BWander::BWander()
{}

//tasks
// 0 - stop
// 1 - foreward

void BWander::init()
{
    //Serial.println("***************************BWander.init() ");
    last = timer.getTime();
    going = false;

    addTask(new Stop());
    addTask(new Forward());

}

void BWander::execute()
{
    //Serial.println("BWander.execute() taskcount: " + (String)taskCount);
    if ((timer.getTime() - last) > 3000)
    {
        going = !going;
        last = timer.getTime();
    }

    if (going)
    {
        Serial.println("go!");
        tasks[1]->execute();
    }
    else
    {
        Serial.println("stop!");
        tasks[0]->execute();
    }

}