Added lesson7

lesson7/Escape.java

+import java.util.Random;
+
+import lejos.nxt.*;
+import lejos.util.Delay;
+
+/*
+ * Escape behavior
+ */
+
+public class Escape extends Thread {
+	private SharedCar car = new SharedCar();
+
+	private int power = 70, ms = 500;
+	TouchSensor left = new TouchSensor(SensorPort.S1);
+	TouchSensor right = new TouchSensor(SensorPort.S2);
+	Random r = new Random();
+	
+	public Escape(SharedCar car) {
+		this.car = car;
+	}
+	
+	public void run() 
+    {				       
+        while (true)
+        {
+	    	// Front bump
+	    	if(left.isPressed() && right.isPressed()) {
+	    		car.backward(power, power);
+	    		Delay.msDelay(ms);
+	    		// Either turn right or left (50/50)
+	    		if(r.nextBoolean()) {
+	    			car.forward(0, power);
+	    			Delay.msDelay(ms);
+	    		} else {
+	    			car.forward(power, 0);
+	    			Delay.msDelay(ms);
+	    		}
+	    	}
+	    	// Left bump
+	    	else if(left.isPressed()) {
+	    		car.backward(power, power);
+	    		Delay.msDelay(ms);
+    			car.forward(0, power);
+    			Delay.msDelay(ms);
+	    	}
+	    	// Right bump
+	    	else if(right.isPressed()) {
+	    		car.backward(power, power);
+	    		Delay.msDelay(ms);
+    			car.forward(power, 0);
+    			Delay.msDelay(ms);
+	    	}
+        }
+    }
+
+}