Main.java

import cbccore.sensors.*;
import cbccore.sensors.analog.*;
import cbccore.sensors.buttons.*;
import cbccore.movement.DriveTrain;
import cbccore.movement.CreateDriveTrain;
import cbccore.events.*;
import java.util.Arrays;
import java.util.ArrayList;

public class Main {
	public static void main(String [] args) {
		System.out.println("Please press the Black Hardware Button to start.");
		
		EventManager.get().connect(ButtonEmitter.BlackButtonReleased, new StartListener(0));
		ButtonEmitter.get().start();
	}
	
	//****************************
	//*** Begin actual program ***
	
	public static class StartListener implements IEventListener {
		
		ETSensor distSensor;
		DriveTrain dt;
		
		public StartListener(int port) {
			distSensor = new ETSensor(port);
			dt = new CreateDriveTrain(1., false);
		}
		
		public void event(Event e) {
			EventManager.get().disconnect(ButtonEmitter.BlackButtonReleased, this);
			ButtonEmitter.get().exit();
			
			double dist = distSensor.getCm(50, 10);
			System.out.println("Distance is: " + dist + "cm");
			System.out.println("Moving to 5cm away");
			dt.moveCm(-dist*.5+5., dt.getMaxCmps()*.5);
			dist = distSensor.getCm(50, 10);
			dt.moveCm(-dist+5., dt.getMaxCmps()*.5);
			
			/*while(true) {
				System.out.println(""+distSensor.getValueHigh());
				try { Thread.sleep(200); } catch(Exception ex) { return; }
			}*/
		}
	}
}