import lejos.nxt.*;
import lejos.robotics.navigation.*;

/**
    p. 321, just DifferentialPilot

    @author Bagnall, course text, p. 321
    @author adapted by Sharon Tuttle
    @version 2015-04-03
*/

public class Blighbot
{
    /**
        trying to use just DifferentialPilot

        @param args not used
    */

    public static void main(String[] args)
    {
        System.out.println("MOOO!");

        DifferentialPilot pilot =
            new DifferentialPilot(4.32F, 15.5F, Motor.B,
                             Motor.C, true);
        System.out.println("got pilot?");

        Navigator robot = new Navigator(pilot);
        System.out.println("got robot?");

        robot.goTo(50, 0); // 200
        System.out.println("part 1 done?");

        robot.goTo(25, 25);  // 100 100
        System.out.println("part 2 done?");

        robot.goTo(25, -12);  // 100 -50
        System.out.println("part 3 done?");

        robot.goTo(0, 0);
        System.out.println("part 4 done?");

        System.out.println("press button");
	Button.waitForAnyPress();
    }
}