import lejos.nxt.Motor;
import lejos.nxt.NXTRegulatedMotor;
import lejos.nxt.SensorPort;
import lejos.nxt.Sound;
import lejos.nxt.TouchSensor;
import lejos.nxt.UltrasonicSensor;

public class ZufallLabyrinth
{
  static NXTRegulatedMotor reMo = Motor.A;
  static NXTRegulatedMotor liMo = Motor.B;
  static UltrasonicSensor ultra = new UltrasonicSensor(SensorPort.S1);
  static TouchSensor buzz = new TouchSensor(SensorPort.S4);

  public static void main(String[] args)
  {
    liMo.setSpeed(500);
    reMo.setSpeed(500);
    ultra.setMode(UltrasonicSensor.MODE_PING);
    boolean press=false;

    //Abstand messen und langsamer werden
    while(true)
    {
      //miss
      ultra.ping();
      int dist = ultra.getDistance();
      if(buzz.isPressed())
      {
        press=true;
      }
      if(dist<20 || press) //FIXME: wenn nah, soll Roboter drehen
      {
        Sound.twoBeeps();
        press=false;
        if(Math.random()<0.5)
        {
          liMo.rotate(400,true);
          reMo.rotate(-400);
	}
        else
        {
          liMo.rotate(-400,true);
          reMo.rotate(400);
        }
      }
      else
      {
        liMo.rotate(200,true);
        reMo.rotate(200);
      }
    }
  }
}