import lejos.nxt.*;
/*
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/**
 *
 * @author malmovich
 */
public class DriveTowardsLight extends Behavior
{

    private Behavior[] m_behaviors;
    RCXLightSensor lightSensorA = new RCXLightSensor(SensorPort.S2);
    RCXLightSensor lightSensorB = new RCXLightSensor(SensorPort.S3);
    MotorPort[] motorsA = new MotorPort[] { MotorPort.B };
    MotorPort[] motorsB = new MotorPort[] { MotorPort.C };
    SensorActuatorConnection threadA;
    SensorActuatorConnection threadB;
        
    public DriveTowardsLight(Behavior[] bs, int lcdRow)
    {
        super("DTL",lcdRow);
        
        m_behaviors = bs;
        threadA = new SensorActuatorConnection(lightSensorA, motorsB);
        threadB = new SensorActuatorConnection(lightSensorB, motorsA);
    }
    
    public void run()
    {
        while(true)
        {
            setSup(true);
            threadA.run();
            threadB.run();
            setSup(false);
            delay(1000);
        }
    }
    
    private void setSup(boolean sup)
        {
            for(int i = 0; i < m_behaviors.length; i++)
                m_behaviors[i].setSuppress(sup);
        }
}