// SOME LEJOS JAVA EXAMPLE PROGRAMS


// PlaySounds.java
// Play tones of increasing frequency & display values on LCD
// import java.lang.System;

import josx.platform.rcx.*;

class PlaySounds
{
  public static void main (String[] args)
  {
     for(int i=16;i<=32000;i=i*2)
     {
       Sound.playTone(i,30);
       LCD.showNumber(i);
       LCD.refresh();
       try{Thread.sleep(500);} 
         catch(Exception e) {}
     }
  }
}


// SoundSensor1 -- Uses Sensor1 press to trigger playing a sound
// Illustrates the polling technique

import josx.platform.rcx.*;

class SoundSensor1 implements SensorConstants
{
  public static void main (String[] args)
  {
    Sensor.S1.setTypeAndMode(SENSOR_TYPE_TOUCH,SENSOR_MODE_BOOL);
    while (true)
    {
      if(Sensor.S1.readBooleanValue())
      {       
        Sound.playTone(220,10);
        try{Thread.sleep(30);} 
          catch(Exception e) {}
      }
    }
  }
}


// SoundSensor1 -- Uses Sensor1 press to trigger playing a sound
// Illustrates the polling technique

import josx.platform.rcx.*;

class SoundSensor1 implements SensorConstants
{
  public static void main (String[] args)
  {
    Sensor.S1.setTypeAndMode(SENSOR_TYPE_TOUCH,SENSOR_MODE_BOOL);
    while (true)
    {
      if(Sensor.S1.readBooleanValue())
      {       
        Sound.playTone(220,10);
        try{Thread.sleep(30);} 
          catch(Exception e) {}
      }
    }
  }
}


// SoundSensorListen1SepClass -- Uses Sensor1 press to trigger playing a sound, separate classes
// Illustrates the use of a SensorListener

import josx.platform.rcx.*;

class SoundSensorListen1SepClass implements SensorConstants
{
  public static void main (String[] args)
  {
    Sensor.S1.setTypeAndMode(SENSOR_TYPE_TOUCH,SENSOR_MODE_BOOL);
    Sensor.S1.addSensorListener (new PlayTone());
    while (true);
  }
}

//use in conjunction with SoundSensorListen1SepClass.java
import josx.platform.rcx.*;

class PlayTone implements SensorListener
{
  public void stateChanged (Sensor src, int oldValue, int newValue)
  {
    Sound.playTone(220,10);
    try{Thread.sleep(30);} 
      catch(Exception e) {}
  }
}


// SoundSensorListen1 -- Uses Sensor1 press to trigger playing a sound
// Listener and main function both contained in one class
// Run button press/release to terminate
// Illustrates the use of a SensorListener

import josx.platform.rcx.*;

class SoundSensorListen1 implements SensorConstants, SensorListener
{
  public static void main (String[] args)
  {
    Sensor.S1.setTypeAndMode(SENSOR_TYPE_TOUCH,SENSOR_MODE_BOOL);
    Sensor.S1.addSensorListener (new SoundSensorListen1());
    try {Button.RUN.waitForPressAndRelease();}
      catch(Exception e) {}
  }

  public void stateChanged (Sensor src, int oldValue, int newValue)
  {
    Sound.playTone(220,10);
    try{Thread.sleep(30);} 
      catch(Exception e) {}
  }
}


// MotorSensorListen -- Robot goes forward until sensor 1 pressed
// Then backs away, turns and goes forward again
// Run button press/release to terminate
// Illustrates the use of a SensorListener & motor control

import josx.platform.rcx.*;

class MotorSensorListen implements SensorConstants, SensorListener
{
  public static void main (String[] args)
  {
    Sensor.S1.setTypeAndMode(SENSOR_TYPE_TOUCH,SENSOR_MODE_BOOL);
    Sensor.S1.addSensorListener (new MotorSensorListen());
    Motor.A.forward();
    Motor.C.forward();
    //while(true);
    try {Button.RUN.waitForPressAndRelease();}
      catch(Exception e) {}
  } 

  public void stateChanged (Sensor src, int oldValue, int newValue)
  {
    boolean pressed = src.readBooleanValue();
    if (pressed)
    {
      Motor.A.backward();
      Motor.C.backward();
      try {Thread.sleep(500);} 
        catch(Exception e) {};
      Motor.A.forward();
      try {Thread.sleep(500);} 
        catch(Exception e) {};
      Motor.C.forward();
      try {Thread.sleep(500);} 
        catch(Exception e) {};
    }
  }
}



// THE FOLLOWING THREE APPS ILLUSTRATE THE USE OF RCX BEHAVIORS IN JAVA

// BehaviorTest.java -- creates class BumperCar
// Implements a behavior using the josx.robotics interfaces and classes
// Simple Behaviors: DriveForward and HitWall 
// BumperClass defined here instantiates each behavior, puts them in an array
// and starts the Arbitrator of those two behaviors
// The behaviors are defined in the DriveForward and HitWall classes

import josx.robotics.*;
class BumperCar
{
   public static void main(String [] args)
   {
      Behavior b1 = new DriveForward();
      Behavior b2 = new HitWall();
      // NOTE: low level behaviors should have lower index number
      // in the array i.e. b2 is higher level than b1.
      Behavior [] bArray = {b1, b2};
      Arbitrator arby = new Arbitrator(bArray);
      arby.start();
   }   
}

// DriveForward.java -- Defines the DriveForward behavior class
// Used with the BumperCar application
import josx.robotics.*;
import josx.platform.rcx.*;
public class DriveForward implements Behavior
{
   public boolean takeControl()
   {
      return true;
   }

   public void suppress()
   {
      Motor.A.stop();
      Motor.C.stop();
   }
   
   public void action()
   {
      Motor.A.forward();
      Motor.C.forward();
   }
}

// HitWall.java -- Defines the HitWall behavior class
// Used with the BumperCar application

import josx.robotics.*;
import josx.platform.rcx.*;
public class HitWall implements Behavior
{
   public boolean takeControl()
   {
      return Sensor.S1.readBooleanValue();
   }
   public void suppress()
   {
      Motor.A.stop();
      Motor.C.stop();
   }
   public void action()
   {
      // Back up:
      Motor.A.backward();
      Motor.C.backward();
      try{Thread.sleep(1000);}catch(Exception e) {}
      // Rotate by causing only one wheel to stop:
      Motor.A.stop();
      try{Thread.sleep(300);}catch(Exception e) {}
      Motor.C.stop();
   }
}


//THE FOLLOWING EXAMPLE ILLUSTRATES THE USE OF THE TimingNavigator CLASS
// Navigation -- go to a specified point (70,90) and return

import josx.platform.rcx.*;
import josx.robotics.*;

class goto7090
{
   public static void main (String [] args)
   {
      Motor.A.setPower(4);
      Motor.C.setPower(7);

      TimingNavigator tn = new TimingNavigator(Motor.C, Motor.A, 4.2f, 3.6f); 
      tn.gotoPoint(70,90);
      tn.gotoPoint(0,0);

   }
}