import tinyvm.rcx.*;
public class SmallCar{
    
  static Object[] iDevices = new Object[] { Sensor.S1, Sensor.S2, Sensor.S3,
                                     Motor.A, Motor.B, Motor.C };
  static int behaviour=0;
  static int currentBehaviour=0;

  public static void main(String[] args){

    Sensor.S1.addSensorListener(new SensorListener(){
	public void stateChanged(Sensor aSource, int value){
	  if(value<1010){
	    behaviour=1;
	    LCD.showProgramNumber(1);
	  }
	}
	public void stateChanged(Sensor aSource, boolean state){}
      }
				);
    Sensor.S2.addSensorListener(new SensorListener(){
	public void stateChanged(Sensor aSource, int value){
	  if(value<1010){
	    behaviour=2;
	    LCD.showProgramNumber(2);
	  }
	}
	public void stateChanged(Sensor aSource, boolean state){}
      }
				);
    Sensor.S3.addSensorListener(new SensorListener(){
	public void stateChanged(Sensor aSource, int value){
	  if(value<1010){
	    behaviour=3;
	    LCD.showProgramNumber(3);
	  }
	}
	public void stateChanged(Sensor aSource, boolean state){}
      }
				);

    while(true){
      currentBehaviour=behaviour;
      if(currentBehaviour==1){//avoid left
	Motor.A.setPower(7);
	Motor.A.forward();
	
	Motor.C.stop();
	Time.sleep(100);

	Motor.C.setPower(2);
	Motor.C.forward();

	behaviour=0;
	Time.sleep(2000);
      }
      else if(currentBehaviour==2){//avoid front
	Motor.A.setPower(5);
	Motor.C.setPower(5);
	
	Motor.A.backward();
	Motor.C.backward();
	
	behaviour=0;
	Time.sleep(2000);
      }
      else if(currentBehaviour==3){//avoid right
	Motor.C.setPower(7);
	Motor.C.forward();
	
	Motor.A.stop();
	Time.sleep(100);

	Motor.A.setPower(2);
	Motor.A.forward();

	behaviour=0;
	Time.sleep(2000);

      }
      else{//rest
	Motor.A.flt();
	Motor.C.flt();
      }
    }
  }
}