import lejos.hardware.Button;
import lejos.hardware.ev3.LocalEV3;
import lejos.hardware.motor.EV3LargeRegulatedMotor;

/**
 * Class for testing how far robot moves before robot is unable to perform double light sensor
 * correction. For double light sensor correction test.
 *
 * @author Raymond Yang
 * @version 1.0
 * @date 2019/03/17
 */
public class DLScorr {

  // class variables

  /**
   * The instance of the left wheel large EV3 motor. The left motor is connected to port A on the
   * EV3 brick.
   */
  public static final EV3LargeRegulatedMotor LEFT_MOTOR =
      new EV3LargeRegulatedMotor(LocalEV3.get().getPort("A"));

  /**
   * The instance of the right wheel large EV3 motor. The right motor is connected to port D on the
   * EV3 brick.
   */
  public static final EV3LargeRegulatedMotor RIGHT_MOTOR =
      new EV3LargeRegulatedMotor(LocalEV3.get().getPort("D"));

  // main method

  public static void main(String args[]) throws Exception {

    // Wait for go
    Button.waitForAnyPress();

    // wait 3s before starting
    Thread.sleep(3000);

    // set speed
    LEFT_MOTOR.setSpeed(300);
    RIGHT_MOTOR.setSpeed(300);

    // go forward
    LEFT_MOTOR.forward();
    RIGHT_MOTOR.forward();

    // Wait for exit signal
    Button.waitForAnyPress();
    System.exit(0);
  }
}