import lejos.nxt.*;

public class SoundCtrCar {

	private static boolean exit = false;

	private static void display(int dB) {
		LCD.drawInt((int) (Runtime.getRuntime().freeMemory()), 0, 0);
		LCD.drawInt(dB, 4, 0, 1);
		LCD.refresh();
	}

	// STOP = 0, LEFT = 1, RIGHT = 2, FORWARD = 3;
	private final static int SPEED = 600;
	private final static int soundThreshold = 50;

	public static void main(String[] args) throws Exception {
		int state = 3;

		SoundSensor sound = new SoundSensor(SensorPort.S4);
		Button.ESCAPE.addButtonListener(new ButtonListener() {
			public void buttonPressed(Button arg0) {
				if (arg0 == Button.ESCAPE) {
					exit = true;
				}
			}

			public void buttonReleased(Button arg0) {
			}
		});

		while (!exit) {
			Thread.sleep(500);
			while ((sound.readValue() < soundThreshold) && !exit)
				display(sound.readValue());

			LCD.drawInt(state + 1, 4, 0, 2);
			if (!exit)
				Locomotion.drive((state & 1) != 0 ? SPEED : 0,
						(state & 2) != 0 ? SPEED : 0);
			state = (state + 1) % 4;
		}
		Locomotion.stop();
		LCD.clear();
		LCD.drawString("Program stopped", 0, 0);
		LCD.refresh();
	}
}