import com.ridgesoft.io.Speaker;
import com.ridgesoft.robotics.RangeFinder;
import com.ridgesoft.robotics.sensors.SharpGP2D12;


import com.ridgesoft.intellibrain.IntelliBrain;
import com.ridgesoft.io.Display;


public class Driver {

    Display display;


    Driver()
    {
       display = IntelliBrain.getLcdDisplay(); 
       display.print(0, "Hello CS160");     
       try{
          
           Thread.sleep(2000);
       
        }catch(Throwable t)
        { }
        checkIR();   

    }



    private void checkIR()
    {
        RangeFinder range = new SharpGP2D12(IntelliBrain.getAnalogInput(1), null);
        Speaker sound = IntelliBrain.getBuzzer();

        try{
            while (true) {
                range.ping();
                float distance = range.getDistanceInches();
                if (distance < 0.0f)
                    display.print(1, "---");
                else
                {
                    display.print(1, Integer.toString((int) (distance + 0.5)) + '"');
                    display.print(1, Integer.toString((int) (distance + 0.5)) + '"');
                    if(distance < 10)
                        sound.play(262, 500);
                    else if(distance <15)
                        sound.play(392, 500);
                    else if(distance < 20)
                        sound.play(494, 500);
                }
                Thread.sleep(500);                 


                
            }
       }catch(Throwable t){}
    }

    public static void main(String args[]) {
        new Driver();
    }
}