import lejos.nxt.*;
public class minesweep {

	public static void main(String[] args) throws Exception{
		LightSensor light = new LightSensor(SensorPort.S3);
		minesweep Neo = new minesweep();
		Motor.A.setSpeed(400); //right
		Motor.B.setSpeed(500); //left
		Motor.C.setSpeed(400); //arm
		int count = 0;
		int see = 50;
		int ident = 0;

		while(count == 0){
			Motor.A.setSpeed(400); //right
			Motor.B.setSpeed(490); //left
			Motor.A.forward();
			Motor.B.forward();

			see = light.readValue();

			if (see < 30) {
				ident = ident + 1;
			}

			if (ident == 1) {
				Motor.A.setSpeed(200);
				Motor.B.setSpeed(200);
				Thread.sleep(500);

				Sound.buzz();

				Motor.A.forward();
				Motor.B.backward();
				Thread.sleep(640);

				Motor.A.forward();
				Motor.B.forward();
				Thread.sleep(500);

				ident = ident + 1;
			}

			if (ident == 3){
				Motor.A.setSpeed(0);
				Motor.B.setSpeed(0);
				Thread.sleep(100);

				Motor.A.setSpeed(200);
				Motor.B.setSpeed(400);

				Sound.buzz();

				Motor.A.forward();
				Motor.B.forward();
				Thread.sleep(1000);

				Motor.A.setSpeed(200);
				Motor.B.setSpeed(200);

				Motor.A.forward();
				Motor.B.forward();
				Thread.sleep(500);

				ident = ident + 1;
			}

			if (ident == 5){
				Motor.A.setSpeed(200);
				Motor.B.setSpeed(200);
				Thread.sleep(500);

				Sound.buzz();

				Motor.A.forward();
				Motor.B.backward();
				Thread.sleep(500);

				Motor.A.forward();
				Motor.B.forward();
				Thread.sleep(500);

				ident = ident + 1;
			}

			if (ident == 7){
				Motor.A.setSpeed(200);
				Motor.B.setSpeed(200);
				Thread.sleep(500);

				Sound.buzz();

				Motor.A.forward();
				Motor.B.backward();
				Thread.sleep(1850);

				Motor.A.backward();
				Motor.B.backward();
				Thread.sleep(910);

				Motor.A.setSpeed(0);
				Motor.B.setSpeed(0);

				Motor.C.forward();
				Thread.sleep(600);

				Motor.A.setSpeed(400);
				Motor.B.setSpeed(400);
				Motor.C.setSpeed(0);

				Motor.A.forward();
				Motor.B.forward();
				Thread.sleep(11000);

				count = 11;
			}

		}

	}

}