import lejos.nxt.*;

public class BBVehicle2b
{
  public static void main (String[] aArg)
  throws Exception
  {
	RCXLightSensor lightSensorA = new RCXLightSensor(SensorPort.S3);
	RCXLightSensor lightSensorB = new RCXLightSensor(SensorPort.S2);
	MotorPort[] motorsA = new MotorPort[] { MotorPort.A };
	MotorPort[] motorsB = new MotorPort[] { MotorPort.B };
	SensorActuatorConnection threadA = new SensorActuatorConnection(lightSensorA, motorsB, "v2bB");
	SensorActuatorConnection threadB = new SensorActuatorConnection(lightSensorB, motorsA, "v2bA");
	threadA.setDaemon(true);
	threadB.setDaemon(true);
	
	LCD.clear();
	LCD.drawString("Press ENTER to start", 0, 0);
	 
	while (Button.ENTER.isPressed()){}

	while (! Button.ENTER.isPressed()){}

	threadA.start();
	threadB.start();
	
	while (! Button.ESCAPE.isPressed())
	{		 

	}
	
	while (! Button.ENTER.isPressed()){}
	threadA.interrupt();
	threadB.interrupt();
    LCD.drawString("Program stopped", 0, 0);
    LCD.refresh();
   }
}