#ifndef DRIVEROBOT_H

#define DRIVEROBOT_H

#include <libirobot/Robot.h>

#include <libirobot/Drive.h>

using namespace iRobot;

/**

 * A robot that plays music, blinks lights, navigates a room, and docks when it

 * gets a chance.

 */

class DriveRobot : public Robot

{

    public:

        typedef enum {

            Left,

            Right,

            Center

        } Side;

        DriveRobot ( const char ttyDevice[] );

        void loop();

        void disconnected();

        Side cliffSide();

		/**

		 * Avoids whatever it bumped into or the cliff it almost fell off.

		 */

		void avoid();

		/**

		 * Handles the home base docking logic

		 */

		void dock();

		/**

		 * Determines if the robot has reached a cliff it probably doesn't want

		 * to fall off of

		 */

		bool reachedCliff();

		bool fellOffCliff();

		bool bumped();

		bool bumpedLeft();

		bool bumpedRight();

	private:

		int m_speed;

		uint8_t m_powerColor;

		Drive::TurnDirection m_lastDir;

		bool m_tryingToDock;

		int m_dockTimeout;

		bool m_dockAttempted;

};

#endif