import lejos.hardware.motor.EV3LargeRegulatedMotor;
import lejos.hardware.port.MotorPort;
import lejos.hardware.port.SensorPort;
import lejos.hardware.sensor.EV3ColorSensor;
import lejos.hardware.sensor.EV3UltrasonicSensor;
import lejos.robotics.RegulatedMotor;
import lejos.hardware.Button;

public class ev3 {

	public static void main(String args[]) {
		int x = 0;
		try {

			EV3UltrasonicSensor augen = new EV3UltrasonicSensor (SensorPort.S3);
			System.out.println("       _.-;;-._");
			System.out.println("'-..-'|   ||   |");
			System.out.println("'-..-'|_.-;;-._|");
			System.out.println("'-..-'|   ||   |");
			System.out.println("'-..-'|_.-''-._|");

			EV3ColorSensor colorSensor = new EV3ColorSensor(SensorPort.S1);
			RegulatedMotor links = new EV3LargeRegulatedMotor(MotorPort.A);
			RegulatedMotor rechts = new EV3LargeRegulatedMotor(MotorPort.B);

			colorSensor.setCurrentMode(1);
			links.forward();
			rechts.forward();
			augen.enable();

			while (Button.ESCAPE.isUp()) {

				float temp[] = new float[1];
				colorSensor.getRedMode().fetchSample(temp, 0);

				if (temp[0] < 0.2 && Button.ESCAPE.isUp()) { // falls Schwarz
					x = 0;
					links.setSpeed(50);
					rechts.setSpeed(100);
				}
				if (temp[0] > 0.2 && Button.ESCAPE.isUp()) {
					links.setSpeed(50+(x/300));
					rechts.setSpeed(100);
					x++;
				}
//				if (augen.getDistanceMode().sampleSize()<0.05)
//				{
//					Thread.sleep(2500);
//				}


			}
		} catch (Exception e) {

		}
	}
}