#ifndef AVOIDOBJECT_HH
#define AVOIDOBJECT_HH

#include "Behavior.hh"
#include "RobotControl.hh"
#include "Semaphore.hh"

class AvoidObject : public Behavior
{
public:
  AvoidObject (char* name, priority_t priorityLevel, RobotControl* robot);

protected:
  int findMinSonar();
  bool testMinimum( int sonar_num );
  void Suspend( bool value );

  void AdjustVelocity( int sonar_num );
  void ResetVelocity();

  int run ();
  void onSuspend ();
  
  double right_vel, left_vel, velocity;
  bool suspended;
  RobotControl* robot;
};

#endif /* AVOIDOBJECT_HH */