:- module(nxt_components,[
		  motor/2, motor/3,
		  light_sensor/1,
		  touch_sensor/1,
		  ultrasonic_sensor/1,
		  sound_sensor/1
		 ]).

:- use_module(nxt_actions).

% Odczyt predkosci.
motor(Motor,Speed) :-
	nonvar(Motor),
	var(Speed),
	get_speed(Motor,Speed).

% Wprawienie w ruch silnika z zadana predkoscia.
motor(Motor,Speed) :-
	nonvar(Motor),
	nonvar(Speed),
	set_speed(Motor,Speed).

% Zmiana predkosci silnika na okreslony czas.
% Po jego uplywie predkosc ustawiana jest na poprzednia wartosc.
motor(Motor,Speed,time(Time)) :-
	nonvar(Motor),
	nonvar(Speed),
	nonvar(Time),
	motor(Motor,Oldspeed),
	create_timer(T1),
	set_speed(Motor,Speed),
	wake_up(T1,Time,nxtMotor(Motor,Oldspeed)).

% Obrot silnika z zadana predkoscia o zadany kat.
motor(Motor,Speed,angle(Angle)) :-
	nonvar(Motor),
	nonvar(Speed),
	nonvar(Angle),
	set_speed(Motor,Speed,Angle).

motor(Motor,Speed,Angle) :- 
	motor(Motor,Speed,angle(Angle)). 

light_sensor(Value) :-
	var(Value),
	get_light(Value).

touch_sensor(Value) :-
	var(Value),
	get_touch(Value).

ultrasonic_sensor(Value) :-
	var(Value),
	get_distance(Value).

sound_sensor(Value) :-
	var(Value),
	get_sound(Value).