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## PER.rover
Class WallFollowAction

    java.lang.Object
      PER.rover.WallFollowAction

All Implemented Interfaces:
  Action, java.io.Serializable

public class WallFollowAction
extends java.lang.Object
implements Action

WallFollowAction will follow a flat surface for a specified centimeter distance. The action is considered successfull if the wall is followed for the complete distance. The action is not successful if the rover encounters an obstacle or reaches the end of the wall before traversing the entire distance specified.

See Also:
  Serialized Form

Constructor Summary
`WallFollowAction()` Creates a new instance of WallFollowAction which drives forever
`WallFollowAction(int dist)` Creates a new instance of WallFollowAction with the saftey on.

Method Summary
`boolean` | `doAction(Rover r)` Tries to start the action.
`long` | `getImageUpdateTime()` Lets you know when the last image was taken by this action.
`java.awt.image.BufferedImage` | `getRecentImage()` Returns the most recent image taken by this Action.
`int` | `getReturnValue()` The return value of the Action.
`java.lang.String` | `getShortSummary()` Provides a shortened version of the summary returned by getSummary.
`java.lang.String` | `getSummary()` Provides a textual explanation of the Action, such as "turn 90 degrees"
`int` | `getTime()` How long the action will take, in milliseconds.
`int` | `getTimeRemaining()` How much time until the action finishes (in milliseconds), if it has already started.
`boolean` | `isCompleted()` Whether the action has completed.
`boolean` | `isSuccess()` Returns true if the rover traversed the entire specified distance.
`void` | `kill()` Emergency stop - end the action immediately, if it's running.

Methods inherited from class java.lang.Object
`clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait`

Constructor Detail

### WallFollowAction

    public WallFollowAction()

  Creates a new instance of WallFollowAction which drives forever

### WallFollowAction

    public WallFollowAction(int dist)

  Creates a new instance of WallFollowAction with the saftey on.

Parameters:
  `dist` - the distance to travel along the wall in centimeters

Method Detail

### doAction

    public boolean doAction(Rover r)

  Description copied from interface: `Action`
  Tries to start the action. Returns whether the action started.

  Specified by:
    `doAction` in interface `Action`

### getReturnValue

    public int getReturnValue()

  Description copied from interface: `Action`
  The return value of the Action. Zero is a success. Negative implies one of this class's constants. Other values should be interpreted as appropriate.

  Specified by:
    `getReturnValue` in interface `Action`
  See Also:
    `RoverState`, `ActionConstants`

### getShortSummary

    public java.lang.String getShortSummary()

  Description copied from interface: `Action`
  Provides a shortened version of the summary returned by getSummary. For example, getSummary may return something like "Turn left and drive about 39 inches toward the red landmark," whereas getShortSummary might just return "Drive toward a landmark."

  Specified by:
    `getShortSummary` in interface `Action`

### getSummary

    public java.lang.String getSummary()

  Description copied from interface: `Action`
  Provides a textual explanation of the Action, such as "turn 90 degrees"

  Specified by:
    `getSummary` in interface `Action`

### getTime

    public int getTime()

  Description copied from interface: `Action`
  How long the action will take, in milliseconds.

  Specified by:
    `getTime` in interface `Action`

### getTimeRemaining

    public int getTimeRemaining()

  Description copied from interface: `Action`
  How much time until the action finishes (in milliseconds), if it has already started. Undefined behavior if the action has not yet begun, or has finished.

  Specified by:
    `getTimeRemaining` in interface `Action`

### isCompleted

    public boolean isCompleted()

  Description copied from interface: `Action`
  Whether the action has completed. Undefined until doAction has been called.

  Specified by:
    `isCompleted` in interface `Action`

### isSuccess

    public boolean isSuccess()

  Returns true if the rover traversed the entire specified distance. Returns false if an obstacle was detected, the end of the wall was reached before completing the entire distance, or some other error occurred.

  Specified by:
    `isSuccess` in interface `Action`

### kill

    public void kill()

  Description copied from interface: `Action`
  Emergency stop - end the action immediately, if it's running.

  Specified by:
    `kill` in interface `Action`

### getImageUpdateTime

    public long getImageUpdateTime()

  Description copied from interface: `Action`
  Lets you know when the last image was taken by this action. If the Action does not take pictures or the first picture has not yet been taken, will return 0.

  Specified by:
    `getImageUpdateTime` in interface `Action`
  Returns:
    the system time in milliseconds when the last image was taken or 0 if no images have been taken

### getRecentImage

    public java.awt.image.BufferedImage getRecentImage()

  Description copied from interface: `Action`
  Returns the most recent image taken by this Action. The image will be null if the Action does not take pictures or the first picture has not yet been taken.

  Specified by:
    `getRecentImage` in interface `Action`
  Returns:
    the most recent picture taken by the Action.

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