import josx.platform.rcx.*; 

/**
 * Class that represents the roverbot
 * robot (has two motors, one on the left
 * and one on the right)
 * @author Barb Ericson ericson@cc.gatech.ed
 */
public class Roverbot
{
  
  ///////////// fields //////////////
  private Motor leftMotor = Motor.A;
  private Motor rightMotor = Motor.C;
  private int powerLevel = 7;
  
  ///////////// Constructor ////////
  
  /** Constructor take takes no 
   * arguments
   */
  public Roverbot()
  {}

  /**
   * Constructor that takes the left 
   * motor and right motor
   * @param left the left motor
   * @param right the right motor
   */
  public Roverbot(Motor left, Motor right)
  {
    leftMotor = left;
    rightMotor = right;
  }
  
  /**
   * Method to make the robot go forward
   * for the passed amount of time (in
   * milliseconds)
   */
  public void forward(int numMillisecs) 
    throws Exception
  {
    leftMotor.setPower(powerLevel);
    rightMotor.setPower(powerLevel);
    leftMotor.forward();
    rightMotor.forward();
    Thread.sleep(numMillisecs);
    leftMotor.flt();
    rightMotor.flt();
  }
  
  /**
   * Method to make the robot go backward
   * for the passed amount of time (in
   * milliseconds)
   */
  public void backward(int numMillisecs) 
    throws Exception
  {
    leftMotor.setPower(powerLevel);
    rightMotor.setPower(powerLevel);
    leftMotor.backward();
    rightMotor.backward();
    Thread.sleep(numMillisecs);
    leftMotor.flt();
    rightMotor.flt();
  }


  /**
   * Method to turn the robot to the
   * right for the passed number
   * of milliseconds
   * @param numMillisecs the number of 
   * milliseconds to turn
   */
  public void turnRight(int numMillisecs) 
    throws Exception
  {
    leftMotor.setPower(powerLevel);
    leftMotor.forward();
    rightMotor.stop();
    Thread.sleep(numMillisecs);
    leftMotor.flt(); 
  }
  
  /**
   * Method to turn the robot to the
   * right for the passed number
   * of milliseconds
   * @param numMillisecs the number of
   * milliseconds
   */
  public void turnLeft(int numMillisecs) 
    throws Exception
  {
    rightMotor.setPower(powerLevel);
    rightMotor.forward();
    leftMotor.stop();
    Thread.sleep(numMillisecs);
    rightMotor.flt(); 
  }
  
  /**
   * Method to spin the robot left
   * @param numMills the number of 
   * milliseconds
   */
  public void spinLeft(int numMills)
    throws Exception
  {
    rightMotor.setPower(powerLevel);
    rightMotor.forward();
    leftMotor.setPower(powerLevel);
    leftMotor.backward();
    Thread.sleep(numMills);
    rightMotor.flt();
    leftMotor.flt();
  }
  
  /**
   * Method to spin the robot right
   * @param numMills the number of 
   * milliseconds
   */
  public void spinRight(int numMills)
    throws Exception
  {
    leftMotor.setPower(powerLevel);
    leftMotor.forward();
    rightMotor.setPower(powerLevel);
    rightMotor.backward();
    Thread.sleep(numMills);
    rightMotor.flt();
    leftMotor.flt();
  }
  
  
  /**
   * Method to zig-zag the robot
   * turn left and then right
   * @param numMills the number milliseconds
   * @param numZZ the number of zig and zags
   */
  public void zigZag(int numMills, int numZZ
    throws Exception
  {
    leftMotor.setPower(powerLevel);
    rightMotor.setPower(powerLevel);
    leftMotor.forward();
    Thread.sleep(numMills);
    rightMotor.forward();
    Thread.sleep(numMills);
    leftMotor.flt();
    rightMotor.flt();
  }
    
  public static void main(String[] args)
  {
    try {
      Roverbot robot = new Roverbot();
      robot.forward(3000);
      robot.spinLeft(3000);
    } catch (Exception ex) {
      TextLCD.print ("error");
    }
  }
  
  
}