Fixed some things with search ball.

src/ve/ucv/ciens/cicore/icaro/ryabi/behaviors/SearchBallBehavior.java

@@ -40,6 +40,7 @@ public class SearchBallBehavior extends BaseBehavior {
 	private FeatureDetectorsHandler detectorHandler;
 	private RobotStateSingleton     state;
 	private boolean                 turnLeft;
+	private boolean                 supress;
 
 	/**
 	 * Creates a new {@link SearchBallBehavior}.
@@ -58,6 +59,7 @@ public class SearchBallBehavior extends BaseBehavior {
 		this.detectorHandler = FeatureDetectorsHandler.getInstance();
 		this.state = RobotStateSingleton.getInstance();
 		this.turnLeft = true;
+		this.supress = false;
 	}
 
 	@Override
@@ -69,6 +71,7 @@ public class SearchBallBehavior extends BaseBehavior {
 		/* If the current state is SEARCH_BALL then set the detectors and take control. */
 		if(state.getState() == States.SEARCH_BALL) {
 			setDetectors();
+			this.supress = false;
 			return true;
 		}
 
@@ -82,6 +85,8 @@ public class SearchBallBehavior extends BaseBehavior {
 			while(queue.hasNextLightSensorEvent())
 				queue.getNextLightSensorEvent();
 
+			this.supress = false;
+
 			return true;
 
 		}
@@ -91,6 +96,7 @@ public class SearchBallBehavior extends BaseBehavior {
 
 	@Override
 	public void action() {
+		while(!supress) {
 			if(queue.hasNextRangeSensorEvent()) {
 				/* If the pedestal has been found then stop the robot and set the state to BALL_FOUND. */
 				if(pilot.isMoving())
@@ -152,11 +158,13 @@ public class SearchBallBehavior extends BaseBehavior {
 				}
 			}
 		}
+	}
 
 	@Override
 	public void suppress() {
 		if(pilot.isMoving())
 			pilot.stop();
+		this.supress = true;
 	}
 
 	/**