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%download http://jupyter.cs.brynmawr.edu/hub/dblank/public/CS110%20Intro%20to%20Computing/2015/Lectures/Robot.pde
%download http://jupyter.cs.brynmawr.edu/hub/dblank/public/CS110%20Intro%20to%20Computing/2015/Lectures/Hit.pde
%download http://jupyter.cs.brynmawr.edu/hub/dblank/public/CS110%20Intro%20to%20Computing/2015/Lectures/World.pde

Downloaded 'Robot.pde'.
Downloaded 'Hit.pde'.
Downloaded 'World.pde'.

%include Robot.pde
%include Hit.pde
%include World.pde

Robot robot;
World world;
int mx, my;

void mousePressed() {
    mx = mouseX;
    my = mouseY;
}

void mouseDragged() {
    robot.forward((mouseX - mx)/100.0);
    robot.turn(-(mouseY - my)/1000.0);
}

void mouseReleased() {
    //robot.stop();
    robot.state = "stop";
}

class MyRobot extends Robot {
    MyRobot(float x, float y, float r) {
        super(x, y, r);
        this.state = "start";
    }

    void brain() {
        PImage pic = this.takePicture();
        // Show pic on canvas:
        image(pic, 500 - 256, 250);
        fill(0);
        text("getIR(0): " + nf(this.getIR(0), 1, 4), 0, 265);
        text("getIR(1): " + nf(this.getIR(1), 1, 4), 0, 280);
        text("stalled: " + this.stalled, 0, 295);
        text("state: " + this.state, 0, 310);
        text("time: " + this.time, 0, 325);
        float speed = 3.0;
        // Start of good stuff:
        if (this.state == "start") {
            this.forward(3);
            this.state = "s1";
        } else if (this.state == "s1") {
            if (this.stalled) {
                this.state = "s2";
            } else {
                this.forward(3);
            }
        } else if (this.state == "s2") {
            this.backward(3);
            this.state = "s3";
        } else if (this.state == "s3") {
            if (this.stalled) {
                this.forward(3);
                this.state = "s4";
            } else {
                this.backward(3);
            }
        } else if (this.state == "s4") {
            if (this.getIR(0) < 1) {
                this.state = "s5";
            } else {
                this.forward(3);
            }
        } else if (this.state == "s5") {
            this.stop();
        }
    }
}

void setup() {
    // Set up canvas 500, 250 for World, 128 for camera:
    size(500, 250 + 128);
    // Set rate so it doesn't overwhelm your browser:
    frameRate(10);
    // Create a simulated world:
    world = new World(500, 250);
    world.addWall(100, 0, 110, 110);  
    world.addBox(200, 95, 210, 170, color(255, 0, 255));  
    world.addBox(250, 95, 260, 130, color(255, 255, 0));  
    world.addBox(300, 190, 310, 240, color(255, 128, 0));  
    // Create robot, and add to world:
    robot = new MyRobot(400, 100, 0);
    world.addRobot(robot);
}

void draw() {
    // Clear:
    background(255);
    // Run simulation for one step:
    world.update();
}

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