package org.lejos.example;

import lejos.nxt.*;
import lejos.robotics.navigation.DifferentialPilot;

/**
 * Write your code in main()
 */
public class HelloWorld {
	static DifferentialPilot pilot = new DifferentialPilot(5.6, 17.5f, Motor.A, Motor.B);
	static UltrasonicSensor ultra = new UltrasonicSensor(SensorPort.S2);
	static LightSensor light = new LightSensor(SensorPort.S1);

	public static void main(String[] args) {
		System.out.println("I'll be back!");
		Button.waitForAnyPress();
		Boolean movingForward = false;
      	float angleBeforeAnotherDirection = 15
		pilot.setTravelSpeed(4);
		while(true){
			if (light.getValue() >= light.getHighValue()) {
              	if (!movingForward){
                  	pilot.quickStop();
                  if (!pilot.isMoving())
                  	movingForward = true;
                } else {
            		pilot.travel(1);
                }
			} else {
              	if (movingForward){
                  pilot.quickStop();
                  if (!pilot.isMoving()){
                  	pilot.rotateLeft(angleBeforeAnotherDirection, true);
                  	movingForward = false;
                  }
                } else {
                  if (!pilot.isMoving())
                  	pilot.rotateLeft(-1, true);
                }

            }
		}
	}
}