// ForwardAvoid.java
//
// Code to start up a behavior-based controller.
//
// Simon Parsons
// 17th October 2013
//
// Based on an example at www.lejos.org

import lejos.robotics.subsumption.*;

public class ForwardAvoid {
    public static void main(String[] args) throws Exception{
	// Which robot are we controlling?
	StandardRobot me = new StandardRobot();
	// Setup the monitor
	// This isn't necessary for the behavior-based control.
	RobotMonitor rm = new RobotMonitor(me, 300);
	rm.start();
	// Set up an arbitrator
	Behavior b1 = new ForwardBehavior(me);
	Behavior b2 = new AvoidBehavior(me);
	Behavior[] bArray = {b1, b2};
	Arbitrator arb = new Arbitrator(bArray, true);
	arb.start();
    }
}