import lejos.hardware.port.SensorPort;
import lejos.hardware.sensor.EV3ColorSensor;
import lejos.hardware.sensor.EV3UltrasonicSensor;
import lejos.robotics.SampleProvider;
import Ressource.Robot20192020;


public class mainRobot {

	//VARIABLE
	static EV3ColorSensor sensor4 = new EV3ColorSensor(SensorPort.S3);
	static SampleProvider light4= sensor4.getMode("Red");
	static float sample4[] = new float[light4.sampleSize()];

	static float  x=(float) 0.2;

	//variable obstacle
	static EV3UltrasonicSensor sonar = new EV3UltrasonicSensor(SensorPort.S4);
	static float[] value = new float[1];
	static float  y=(float) 0.9;


	public static void main(String[] args) {
		Robot20192020.AfficherUnmessage("READY STEP1");
		Robot20192020.Attendre(); // Le robot attend que l'on appuie pour avancer.
		step1();
		closeSensor();
	}

	public static void step1(){
		//boolean detection1 = false;

		while (x > 0.06 && x < 0.3 && y > 0.2) {
			light4.fetchSample(sample4, 0);
			x= sample4[0];
			Robot20192020.AfficherUnmessageinst("DETECTION:" +x);
			sonar.getDistanceMode().fetchSample(value, 0);
			y= value[0];
			Robot20192020.Avancer();
		}
		Robot20192020.Arreter();
		Robot20192020.FaireUnePause(2);
		Robot20192020.FaireUneRotationAGauche(180);

	}

	public static void closeSensor(){
		sensor4.close();
		sonar.close();
	}

}