/*
    Authors: Esteban, Robert
    Assignment: Project 4
    Date: 3/25/15
    Description:    Robot drives forwa
*/


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


public class project5  //make sure the classname matches the filename (case-sensitive)
{
    private DifferentialPilot bot;  //field declaration for a DifferentialPilot object


    //the code in the main method will not change (except for the classname)
    public static void main(String[] args)
    {
        project5 myProgram = new project5(); //matches classname (case-sensitive)
        myProgram.run();
    }//main()


    //the constructor generally instantiates field objects and sets other initial state information
    public project5()   //matches classname (case-sensitive)
    {
        bot = new DifferentialPilot(56, 108, Motor.B, Motor.C);  //instantiate a DifferentialPilot object named "bot"

    }//constructor


    //your code goes in this method
    public void run()
    {
        bot.travel(1550); //good
        bot.rotate(-110); //good
        bot.travel(1000); //good
        bot.rotate(-150); //good
        bot.travel(1250); //good
        bot.rotate(90); //good
        bot.travel(1100); //good
        bot.rotate(-150); //good
        bot.travel(1000); //good
        bot.rotate(400); //Start Celebration !!!!
        bot.rotate(-400);
        bot.rotate(400);
        bot.rotate(-400);
    }//run()




    //the following method writes a string to the screen. Useful for debugging.
    public void displayString(String msg)
    {
        LCD.clear();
        LCD.drawString(msg, 0, 0);  //writes the msg to the screen
        LCD.refresh();
    }//displayString()



    //the following method writes an int (whole number) to the screen. Useful for debugging.
    public void displayInt(int num)
    {
        LCD.clear();
        LCD.drawInt(num, 4, 0, 0);  //writes the num to the screen
        LCD.refresh();
    } //displayInt



    //the following method allows the bot to do what it was doing, but suspends execution of the
    //next statement. When this method returns, the program continues executing where it left off.
    public void pause(int milli)
    {
        try
        {
            Thread.sleep(milli);
        }//try
        catch(InterruptedException e)
        {
        }//catch
    }//sleep()

}//class project5