Added comments and javadoc everywhere.

src/ve/ucv/ciens/cicore/icaro/ryabi/RyABI.java

@@ -1,3 +1,16 @@
+/*
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * See the LICENSE file for more details.
+ */
+
 package ve.ucv.ciens.cicore.icaro.ryabi;
 
 import lejos.nxt.Button;
@@ -25,6 +38,11 @@ import ve.ucv.ciens.cicore.icaro.ryabi.sensors.FeatureDetectionListener;
 import ve.ucv.ciens.cicore.icaro.ryabi.sensors.LightFeatureDetector;
 import ve.ucv.ciens.cicore.icaro.ryabi.utils.QuitButtonListener;
 
+/**
+ * This class starts the execution of the program.
+ * 
+ * @author Miguel Angel Astor Romero.
+ */
 @SuppressWarnings("deprecation")
 public class RyABI {
 	private static final float WHEEL_DIAMETER = 56.0f;
@@ -43,6 +61,9 @@ public class RyABI {
 	private static FeatureDetectionListener featureListener;
 	private static FeatureDetectorsHandler  detectorHandler;
 
+	/**
+	 * Main method of the program.
+	 */
 	public static void main(String[] args) {
 		boolean invertLightDetector;
 		/* Create the sensors. */
@@ -100,11 +121,17 @@ public class RyABI {
 		arbitrator.start();
 	}
 
+	/**
+	 * Asks the user to select the light feature detection mode.
+	 * 
+	 * @return True if the user wants to invert the light detector (report when the robot passes from a dark area to a light area).
+	 */
 	private static boolean invertLightDetector() {
 		int btnID;
 		boolean invertSensor = false, done = false;
 
 		while(!done) {
+			/* Show the prompt on the screen. */
 			LCD.clear();
 			System.out.println("Invert l. sens:");
 			if(invertSensor)
@@ -114,17 +141,21 @@ public class RyABI {
 			System.out.println("Press ENTER");
 			System.out.println("to set.");
 
+			/* Wait for any button press. */
 			btnID = Button.waitForAnyPress();
 
 			switch(btnID) {
 			case Button.ID_LEFT:
 			case Button.ID_RIGHT:
+				/* If the user pressed any direction button then toggle the sensor. */
 				invertSensor = !invertSensor;
 				break;
 			case Button.ID_ENTER:
+				/* If the user pressed enter then end the loop. */
 				done = true;
 				break;
 			default:
+				/* If the user pressed escape then quit. */
 				System.exit(1);
 			}
 		}

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

@@ -1,3 +1,16 @@
+/*
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * See the LICENSE file for more details.
+ */
+
 package ve.ucv.ciens.cicore.icaro.ryabi.behaviors;
 
 import lejos.nxt.LightSensor;
@@ -11,10 +24,19 @@ import ve.ucv.ciens.cicore.icaro.ryabi.utils.RobotStateSingleton;
 import ve.ucv.ciens.cicore.icaro.ryabi.utils.Rotations;
 import ve.ucv.ciens.cicore.icaro.ryabi.utils.States;
 
+/**
+ * This class implements a {@link BaseBehavior} that attempts to evade obstacles detected by the {@link TouchSensor} by moving
+ * a bit to the right.
+ * 
+ * @author Miguel Angel Astor Romero.
+ */
 public class AvoidObstaclesBehavior extends BaseBehavior {
 	private RobotStateSingleton state;
 	private SensorEventsQueue   queue;
 
+	/**
+	 * Creates a new {@link AvoidObstaclesBehavior}.
+	 */
 	public AvoidObstaclesBehavior(ArcRotateMoveController pilot, UltrasonicSensor sonar, TouchSensor touch, LightSensor light, CompassHTSensor compass, float wheelRadius, float trackWidth) {
 		super(pilot, sonar, touch, light, compass, wheelRadius, trackWidth);
 		this.state = RobotStateSingleton.getInstance();

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

@@ -1,3 +1,16 @@
+/*
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * See the LICENSE file for more details.
+ */
+
 package ve.ucv.ciens.cicore.icaro.ryabi.behaviors;
 
 import lejos.nxt.LightSensor;
@@ -7,6 +20,11 @@ import lejos.nxt.addon.CompassHTSensor;
 import lejos.robotics.navigation.ArcRotateMoveController;
 import lejos.robotics.subsumption.Behavior;
 
+/**
+ * Base class for {@link Behavior} implementations that need to use multiple sensors and a pilot.
+ * 
+ * @author Miguel Angel Astor Romero.
+ */
 public abstract class BaseBehavior implements Behavior {
 	protected ArcRotateMoveController pilot;
 	protected UltrasonicSensor        sonar;
@@ -16,6 +34,17 @@ public abstract class BaseBehavior implements Behavior {
 	protected float                   wheelDiameter;
 	protected float                   trackWidth;
 
+	/**
+	 * Creates a new {@link BaseBehavior}. Has to be called by subclasses.
+	 * 
+	 * @param pilot A differential pilot that implements {@link ArcRotateMoveController}
+	 * @param sonar A range finder sensor.
+	 * @param touch A touch sensor.
+	 * @param light A monochromatic light sensor.
+	 * @param compass A HiTechnic compass sensor.
+	 * @param wheelDiameter The diameter of the active wheels. Assumes both wheels are the same size.
+	 * @param trackWidth The distance between the center of both active wheels.
+	 */
 	public BaseBehavior(ArcRotateMoveController pilot, UltrasonicSensor sonar, TouchSensor touch, LightSensor light, CompassHTSensor compass, float wheelDiameter, float trackWidth) {
 		this.pilot = pilot;
 		this.sonar = sonar;

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

@@ -1,3 +1,16 @@
+/*
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * See the LICENSE file for more details.
+ */
+
 package ve.ucv.ciens.cicore.icaro.ryabi.behaviors;
 
 import lejos.nxt.LightSensor;
@@ -10,9 +23,24 @@ import ve.ucv.ciens.cicore.icaro.ryabi.utils.RobotStateSingleton;
 import ve.ucv.ciens.cicore.icaro.ryabi.utils.Rotations;
 import ve.ucv.ciens.cicore.icaro.ryabi.utils.States;
 
+/**
+ * This class implements a {@link BaseBehavior} that just closes the B {@link Motor} in order to catch the ball after it has been found.
+ * 
+ * @author Miguel Angel Astor Romero.
+ */
 public class CatchBallBehavior extends BaseBehavior {
 	RobotStateSingleton state;
 
+	/**
+	 * Creates a new {@link CatchBallBehavior}.
+	 * @param pilot
+	 * @param sonar
+	 * @param touch
+	 * @param light
+	 * @param compass
+	 * @param wheelDiameter
+	 * @param trackWidth
+	 */
 	public CatchBallBehavior(ArcRotateMoveController pilot, UltrasonicSensor sonar, TouchSensor touch, LightSensor light, CompassHTSensor compass, float wheelDiameter, float trackWidth) {
 		super(pilot, sonar, touch, light, compass, wheelDiameter, trackWidth);
 		this.state = RobotStateSingleton.getInstance();
@@ -28,6 +56,7 @@ public class CatchBallBehavior extends BaseBehavior {
 		Motor.B.forward();
 		try { Thread.sleep(2000); } catch(InterruptedException e) { };
 
+		/* Turn towards the start line and start moving. */
 		Rotations.rotate180(compass, pilot);
 		state.setState(States.WANDER);
 	}

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

@@ -1,3 +1,16 @@
+/*
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * See the LICENSE file for more details.
+ */
+
 package ve.ucv.ciens.cicore.icaro.ryabi.behaviors;
 
 import lejos.nxt.LightSensor;
@@ -11,6 +24,16 @@ import ve.ucv.ciens.cicore.icaro.ryabi.utils.RobotStateSingleton;
 import ve.ucv.ciens.cicore.icaro.ryabi.utils.Rotations;
 import ve.ucv.ciens.cicore.icaro.ryabi.utils.States;
 
+/**
+ * This class implements a {@link BaseBehavior} that searches slowly to the left and right of the robot for the pedestal where the ball
+ * should be in. It first searches to the left of the robot until it hits an obstacle. Then it will search to the right of the robot
+ * until it hits another obstacle.
+ * 
+ * If the ball is not found after searching on both sides then the robot will make a 180 degrees turn and will start moving back
+ * to the start line.
+ * 
+ * @author Miguel Angel Astor Romero.
+ */
 public class SearchBallBehavior extends BaseBehavior {
 	private SensorEventsQueue       queue;
 	private boolean                 ballFound;
@@ -18,6 +41,16 @@ public class SearchBallBehavior extends BaseBehavior {
 	private RobotStateSingleton     state;
 	private boolean                 turnLeft;
 
+	/**
+	 * Creates a new {@link SearchBallBehavior}.
+	 * @param pilot
+	 * @param sonar
+	 * @param touch
+	 * @param light
+	 * @param compass
+	 * @param wheelDiameter
+	 * @param trackWidth
+	 */
 	public SearchBallBehavior(ArcRotateMoveController pilot, UltrasonicSensor sonar, TouchSensor touch, LightSensor light, CompassHTSensor compass, float wheelDiameter, float trackWidth) {
 		super(pilot, sonar, touch, light, compass, wheelDiameter, trackWidth);
 		this.queue = SensorEventsQueue.getInstance();
@@ -29,18 +62,23 @@ public class SearchBallBehavior extends BaseBehavior {
 
 	@Override
 	public boolean takeControl() {
+		/* If the ball has already been found then this behavior should not take control again. */
 		if(ballFound)
 			return false;
 
+		/* If the current state is SEARCH_BALL then set the detectors and take control. */
 		if(state.getState() == States.SEARCH_BALL) {
 			setDetectors();
 			return true;
 		}
 
+		/* If the state is not SEARCH_BALL but there is at least one light feature detected
+		 * indicating that the finish line has been reached then set the detectors and take control. */
 		if(queue.hasNextLightSensorEvent()) {
 			state.setState(States.SEARCH_BALL);
 			setDetectors();
 
+			/* Discard unneeded detected light features. */
 			while(queue.hasNextLightSensorEvent())
 				queue.getNextLightSensorEvent();
 
@@ -54,25 +92,30 @@ public class SearchBallBehavior extends BaseBehavior {
 	@Override
 	public void action() {
 		if(queue.hasNextRangeSensorEvent()) {
-
+			/* If the pedestal has been found then stop the robot and set the state to BALL_FOUND. */
 			if(pilot.isMoving())
 				pilot.stop();
 			ballFound = true;
 			state.setState(States.BALL_FOUND);
 
+			/* Discard unneeded range features. */
 			while(queue.hasNextRangeSensorEvent())
 				queue.getNextRangeSensorEvent();
 
 		} else {
 			if(turnLeft) {
+				/* Search to the left of the robot. */
 				Rotations.rotateM90(compass, pilot);
 				pilot.travel(50);
 
 				if(queue.hasNextTouchSensorEvent()) {
+					/* If an obstacle is found while searching then start searching
+					 * to the opposite side. */
 					pilot.travel(-100);
 
 					turnLeft = false;
 
+					/* Discard unneeded touch events. */
 					while(queue.hasNextTouchSensorEvent())
 						queue.getNextTouchSensorEvent();
 
@@ -82,15 +125,19 @@ public class SearchBallBehavior extends BaseBehavior {
 				Rotations.rotate90(compass, pilot);
 
 			} else {
+				/* Search to the right of the robot. */
 				Rotations.rotate90(compass, pilot);
 				pilot.travel(50);
 
 				if(queue.hasNextTouchSensorEvent()) {
+					/* If an obstacle is found while searching then give up and go back
+					 * to the start line. */
 					pilot.travel(-100);
 
 					state.setState(States.WANDER);
 					ballFound = true;
 
+					/* Discard unneeded touch events. */
 					while(queue.hasNextTouchSensorEvent())
 						queue.getNextTouchSensorEvent();
 
@@ -99,12 +146,12 @@ public class SearchBallBehavior extends BaseBehavior {
 
 				Rotations.rotateM90(compass, pilot);
 
-				if(ballFound) {
+				/* If the ball was found or the robot gave up then turn around towards the start line. */
+				if(ballFound)
 					Rotations.rotate180(compass, pilot);
 			}
 		}
 	}
-	}
 
 	@Override
 	public void suppress() {
@@ -112,6 +159,9 @@ public class SearchBallBehavior extends BaseBehavior {
 			pilot.stop();
 	}
 
+	/**
+	 * Enables the touch and range feature detectors and disables the light feature detector.
+	 */
 	private void setDetectors() {
 		detectorHandler.enableTouchDetector();
 		detectorHandler.disableLightDetector();

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

@@ -1,3 +1,16 @@
+/*
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * See the LICENSE file for more details.
+ */
+
 package ve.ucv.ciens.cicore.icaro.ryabi.behaviors;
 
 import lejos.nxt.Button;
@@ -8,9 +21,24 @@ import lejos.nxt.UltrasonicSensor;
 import lejos.nxt.addon.CompassHTSensor;
 import lejos.robotics.navigation.DifferentialPilot;
 
+/**
+ * This class implements a {@link BaseBehavior} that performs automatic calibration of the {@link CompassHTSensor} and {@link LightSensor}.
+ * 
+ * @author Miguel Angel Astor Romero.
+ */
 public class SensorCalibrationBehavior extends BaseBehavior {
 	private boolean sensorsCalibrated;
 
+	/**
+	 * Creates a new {@link SensorCalibrationBehavior}
+	 * 
+	 * @param sonar
+	 * @param touch
+	 * @param light
+	 * @param compass
+	 * @param wheelRadius
+	 * @param trackWidth
+	 */
 	public SensorCalibrationBehavior(UltrasonicSensor sonar, TouchSensor touch, LightSensor light, CompassHTSensor compass, float wheelRadius, float trackWidth) {
 		super(null, sonar, touch, light, compass, wheelRadius, trackWidth);
 		sensorsCalibrated = false;
@@ -23,6 +51,7 @@ public class SensorCalibrationBehavior extends BaseBehavior {
 
 	@Override
 	public void action() {
+		/* Calibrate the compass by turning slowly by 720 degrees. */
 		System.out.println("Calib. compass");
 		DifferentialPilot p = new DifferentialPilot(wheelDiameter, trackWidth, Motor.A, Motor.C);
 		p.setRotateSpeed(25);
@@ -30,6 +59,7 @@ public class SensorCalibrationBehavior extends BaseBehavior {
 		p.rotate(720, false);
 		compass.stopCalibration();
 
+		/* Ask the user for input in calibrating the light sensor. */
 		System.out.println("Calib. light s.");
 		light.setFloodlight(true);
 		System.out.println("Point at dark\nand press ENTER");

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

@@ -1,13 +1,34 @@
+/*
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * See the LICENSE file for more details.
+ */
+
 package ve.ucv.ciens.cicore.icaro.ryabi.behaviors;
 
+import java.awt.Point;
+
 import lejos.nxt.Sound;
+import lejos.robotics.subsumption.Behavior;
 import ve.ucv.ciens.cicore.icaro.ryabi.sensors.FeatureDetectorsHandler;
 import ve.ucv.ciens.cicore.icaro.ryabi.sensors.SensorEventsQueue;
 import ve.ucv.ciens.cicore.icaro.ryabi.utils.RobotStateSingleton;
 import ve.ucv.ciens.cicore.icaro.ryabi.utils.States;
 
+/**
+ * This class implements a {@link Behavior} that plays some music when the robot has completed it's objective.
+ * 
+ * @author Miguel Angel Astor Romero.
+ */
 @SuppressWarnings("unused")
-public class VictoryBehavior extends BaseBehavior {
+public class VictoryBehavior implements Behavior {
 	private static final int C       = 262;
 	private static final int D       = 287;
 	private static final int E       = 320;
@@ -15,34 +36,64 @@ public class VictoryBehavior extends BaseBehavior {
 	private static final int G       = 392;
 	private static final int A       = 440;
 	private static final int B       = 494;
+	private static final int ROUND   = 1000;
+	private static final int WHITE   = 500;
+	private static final int BLACK   = 250;
+	private static final int QUARTER = 125;
 
+	private Point[]                 score;
 	private RobotStateSingleton     state;
 	private SensorEventsQueue       queue;
 	private FeatureDetectorsHandler detectorHandler;
 
+	/**
+	 * Creates a new {@link VictoryBehavior}.
+	 */
 	public VictoryBehavior() {
-		super(null, null, null, null, null, 0.0f, 0.0f);
 		state = RobotStateSingleton.getInstance();
 		this.queue = SensorEventsQueue.getInstance();
 		this.detectorHandler = FeatureDetectorsHandler.getInstance();
+
+		this.score = new Point[17];
+		score[0]  = new Point(B, BLACK);
+		score[1]  = new Point(A, BLACK);
+		score[2]  = new Point(G, WHITE);
+		score[3]  = new Point(B, BLACK);
+		score[4]  = new Point(A, BLACK);
+		score[5]  = new Point(G, WHITE);
+		score[6]  = new Point(G, QUARTER);
+		score[7]  = new Point(G, QUARTER);
+		score[8]  = new Point(G, QUARTER);
+		score[9]  = new Point(G, QUARTER);
+		score[10] = new Point(A, QUARTER);
+		score[11] = new Point(A, QUARTER);
+		score[12] = new Point(A, QUARTER);
+		score[13] = new Point(A, QUARTER);
+		score[14] = new Point(B, BLACK);
+		score[15] = new Point(A, BLACK);
+		score[16] = new Point(G, WHITE);
 	}
 
 	@Override
 	public boolean takeControl() {
+		/* Check if the current state is VICTORY. */
 		if(state.getState() == States.VICTORY) {
 			detectorHandler.disableAllDetectors();
 			return true;
 		}
 
+		/* If the state is not VICTORY, then check if there is a light sensor
+		 * event indicating that the goal line has been found. */
 		if(queue.hasNextLightSensorEvent()) {
+			/* Set the state to VICTORY and disable sensors. */
 			state.setState(States.VICTORY);
 			detectorHandler.disableAllDetectors();
 
+			/* Discard extraneous light events. */
 			while(queue.hasNextLightSensorEvent())
 				queue.getNextLightSensorEvent();
 
 			return true;
-
 		}
 
 		return false;
@@ -50,30 +101,27 @@ public class VictoryBehavior extends BaseBehavior {
 
 	@Override
 	public void action() {
-		playToneDuration(B, 250);
+		/* Play some music! */
-		playToneDuration(A, 250);
+		playMusic(score);
-		playToneDuration(G, 500);
+
-		playToneDuration(B, 250);
+		/* Set the final state. */
-		playToneDuration(A, 250);
-		playToneDuration(G, 500);
-		playToneDuration(G, 125);
-		playToneDuration(G, 125);
-		playToneDuration(G, 125);
-		playToneDuration(G, 125);
-		playToneDuration(A, 125);
-		playToneDuration(A, 125);
-		playToneDuration(A, 125);
-		playToneDuration(A, 125);
-		playToneDuration(B, 250);
-		playToneDuration(A, 250);
-		playToneDuration(G, 500);
 		state.setState(States.DONE);
 	}
 
 	@Override
 	public void suppress() { }
 
+	private void playMusic(Point[] score) {
+		for(Point note: score)
+			playToneDuration(note.x, note.y);
+	}
 
+	/**
+	 * Plays the given tone for the specified time given in milliseconds.
+	 * 
+	 * @param tone
+	 * @param milis
+	 */
 	private void playToneDuration(int tone, int milis) {
 		Sound.playTone(tone, milis);
 		try { Thread.sleep(milis); } catch(InterruptedException ie) {}

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

@@ -1,3 +1,16 @@
+/*
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * See the LICENSE file for more details.
+ */
+
 package ve.ucv.ciens.cicore.icaro.ryabi.behaviors;
 
 import lejos.nxt.LightSensor;
@@ -9,10 +22,26 @@ import ve.ucv.ciens.cicore.icaro.ryabi.sensors.FeatureDetectorsHandler;
 import ve.ucv.ciens.cicore.icaro.ryabi.utils.RobotStateSingleton;
 import ve.ucv.ciens.cicore.icaro.ryabi.utils.States;
 
+/**
+ * This class implements a {@link BaseBehavior} that wanders in a straight line.
+ * 
+ * @author Miguel Angel Astor Romero.
+ */
 public class WanderBehavior extends BaseBehavior {
 	private RobotStateSingleton     state;
 	private FeatureDetectorsHandler detectorHandler;
 
+	/**
+	 * Create a new {@link WanderBehavior}.
+	 * 
+	 * @param pilot
+	 * @param sonar
+	 * @param touch
+	 * @param light
+	 * @param compass
+	 * @param wheelDiameter
+	 * @param trackWidth
+	 */
 	public WanderBehavior(ArcRotateMoveController pilot, UltrasonicSensor sonar, TouchSensor touch, LightSensor light, CompassHTSensor compass, float wheelDiameter, float trackWidth) {
 		super(pilot, sonar, touch, light, compass, wheelDiameter, trackWidth);
 		state = RobotStateSingleton.getInstance();
@@ -21,6 +50,7 @@ public class WanderBehavior extends BaseBehavior {
 
 	@Override
 	public boolean takeControl() {
+		/* Check if the state is wander. If it is, then set the sensors and return true. */
 		if(state.getState() == States.WANDER) {
 			detectorHandler.enableTouchDetector();
 			detectorHandler.enableLightDetector();

src/ve/ucv/ciens/cicore/icaro/ryabi/sensors/FeatureDetectionListener.java

@@ -1,3 +1,16 @@
+/*
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * See the LICENSE file for more details.
+ */
+
 package ve.ucv.ciens.cicore.icaro.ryabi.sensors;
 
 import lejos.nxt.Sound;
@@ -5,9 +18,18 @@ import lejos.robotics.objectdetection.Feature;
 import lejos.robotics.objectdetection.FeatureDetector;
 import lejos.robotics.objectdetection.FeatureListener;
 
+/**
+ * A {@link FeatureListener} implementation that just plays a beep when any feature is detected and stores said feature at the
+ * global {@link SensorEventsQueue}.
+ * 
+ * @author Miguel Angel Astor Romero.
+ */
 public class FeatureDetectionListener implements FeatureListener {
 	private SensorEventsQueue eventsQueue;
 
+	/**
+	 * Creates a new {@link FeatureDetectionListener}.
+	 */
 	public FeatureDetectionListener() {
 		this.eventsQueue = SensorEventsQueue.getInstance();
 	}

src/ve/ucv/ciens/cicore/icaro/ryabi/sensors/FeatureDetectorsHandler.java

@@ -1,8 +1,28 @@
+/*
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * See the LICENSE file for more details.
+ */
+
 package ve.ucv.ciens.cicore.icaro.ryabi.sensors;
 
 import lejos.robotics.objectdetection.RangeFeatureDetector;
 import lejos.robotics.objectdetection.TouchFeatureDetector;
+import lejos.robotics.subsumption.Behavior;
 
+/**
+ * Singleton class that holds all the feature detectors in one place so that the different {@link Behavior} implementations
+ * can operate on them.
+ * 
+ * @author Miguel Angel Astor Romero.
+ */
 public final class FeatureDetectorsHandler {
 	private RangeFeatureDetector     rangeDetector;
 	private TouchFeatureDetector     touchDetector;
@@ -18,6 +38,11 @@ public final class FeatureDetectorsHandler {
 		private static final FeatureDetectorsHandler INSTANCE = new FeatureDetectorsHandler();
 	}
 
+	/**
+	 * Gets the singleton instance of this class.
+	 * 
+	 * @return the instacne.
+	 */
 	public static FeatureDetectorsHandler getInstance() {
 		return SingletonHolder.INSTANCE;
 	}

src/ve/ucv/ciens/cicore/icaro/ryabi/sensors/LightFeatureDetector.java

@@ -1,3 +1,16 @@
+/*
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * See the LICENSE file for more details.
+ */
+
 package ve.ucv.ciens.cicore.icaro.ryabi.sensors;
 
 import lejos.geom.Point;
@@ -6,7 +19,39 @@ import lejos.robotics.RangeReading;
 import lejos.robotics.objectdetection.Feature;
 import lejos.robotics.objectdetection.FeatureDetectorAdapter;
 import lejos.robotics.objectdetection.RangeFeature;
+import lejos.robotics.objectdetection.TouchFeatureDetector;
 
+/**
+ * <p>A {@link FeatureDetectorAdapter} subclass that reports events detected by the light sensor every 50 milliseconds. It is based
+ * on the {@link TouchFeatureDetector} class.</p>
+ * 
+ * <p>The detector can take into account the position of the light sensor with respect to the rotation center of the robot.
+ * Use the following guide to calculate the x offset and y offset of the sensor:</p>
+ * 
+ * <p><pre>+-----------------+</pre></p>
+ * <p><pre>|        y----L   |</pre></p>
+ * <p><pre>|        |    |   |</pre></p>
+ * <p><pre>|W       C----x  W|</pre></p>
+ * <p><pre>|                 |</pre></p>
+ * <p><pre>|                 |</pre></p>
+ * <p><pre>|                 |</pre></p>
+ * <p><pre>|                 |</pre></p>
+ * <p><pre>|                 |</pre></p>
+ * <p><pre>+-----------------+</pre></p>
+ * 
+ * <p>Where:</p>
+ * 
+ * <ul>
+ *   <li> C is the rotation center of the robot. </li>
+ *   <li> W are the centers of the differential wheels of the robot. </li>
+ *   <li> L is the light sensor. </li>
+ *   <li> x and y are the distances from the rotation center to the light sensor taken along the respective edges of the robot. </li>
+ * </ul>
+ * 
+ * <p>The front of the robot is at the top of the diagram.</p>
+ * 
+ * @author Miguel Angel Astor Romero.
+ */
 public class LightFeatureDetector extends FeatureDetectorAdapter {
 	private static final int DELAY = 50;
 
@@ -16,37 +61,111 @@ public class LightFeatureDetector extends FeatureDetectorAdapter {
 	private float angle = 0;
 	private float range = 0;
 
+	/**
+	 * Creates a new {@link LightFeatureDetector} using the given light sensor. The detection threshold is
+	 * set to 50% and it assumes the sensor is at the rotation center of the robot. The detector will report events
+	 * when the light measurement is less than 50%.
+	 * 
+	 * @param lightSensor the light sensor to use.
+	 */
 	public LightFeatureDetector(LightSensor lightSensor) {
 		this(lightSensor, 50, false, 0, 0);
 	}
 
+	/**
+	 * Creates a new {@link LightFeatureDetector} using the given light sensor and the given threshold. It assumes the sensor is at
+	 * the rotation center of the robot. The detector will report events when the light measurement is less than the threshold.
+	 * 
+	 * @param lightSensor the light sensor to use.
+	 * @param threshold the detection threshold. It will be clamped to [0, 100].
+	 */
 	public LightFeatureDetector(LightSensor lightSensor, int threshold) {
 		this(lightSensor, threshold, false, 0, 0);
 	}
 
+	/**
+	 * Creates a new {@link LightFeatureDetector} using the given light sensor. The detection threshold is
+	 * set to 50% and it assumes the sensor is at the rotation center of the robot. The detector will report events
+	 * when the light measurement is more than or equal to 50% if invert is true.
+	 * 
+	 * @param lightSensor the light sensor to use.
+	 * @param invert
+	 */
 	public LightFeatureDetector(LightSensor lightSensor, boolean invert) {
 		this(lightSensor, 50, invert, 0, 0);
 	}
 
+	/**
+	 * Creates a new {@link LightFeatureDetector} using the given light sensor. The detection threshold is
+	 * set to 50%. The offsets determine the position of the sensor with respect to the center of the robot.
+	 * The detector will report events when the light measurement is less than 50%.
+	 * 
+	 * To calculate the offsets use the following guide: 
+	 * 
+	 * @param lightSensor the light sensor to use.
+	 * @param xOffset distance of the sensor to the rotation center of the robot.
+	 * @param yOffset distance of the sensor to the rotation center of the robot.
+	 */
 	public LightFeatureDetector(LightSensor lightSensor, double xOffset, double yOffset) {
 		this(lightSensor, 50, false, xOffset, yOffset);
 	}
 
+	/**
+	 * Creates a new {@link LightFeatureDetector} using the given light sensor. The detection threshold is
+	 * set to the given threshold. The offsets determine the position of the sensor with respect to the center of the robot.
+	 * The detector will report events when the light measurement is less than the given threshold.
+	 * 
+	 * To calculate the offsets use the following guide: 
+	 * 
+	 * @param lightSensor the light sensor to use.
+	 * @param threshold the detection threshold. It will be clamped to [0, 100].
+	 * @param xOffset distance of the sensor to the rotation center of the robot.
+	 * @param yOffset distance of the sensor to the rotation center of the robot.
+	 */
 	public LightFeatureDetector(LightSensor lightSensor, int threshold, double xOffset, double yOffset) {
 		this(lightSensor, threshold, false, xOffset, yOffset);
 	}
 
+	/**
+	 * Creates a new {@link LightFeatureDetector} using the given light sensor. The detection threshold is
+	 * set to 50%. The offsets determine the position of the sensor with respect to the center of the robot.
+	 * The detector will report events when the light measurement is more than or equal to 50% if invert is true.
+	 * 
+	 * To calculate the offsets use the following guide: 
+	 * 
+	 * @param lightSensor the light sensor to use.
+	 * @param invert
+	 * @param xOffset distance of the sensor to the rotation center of the robot.
+	 * @param yOffset distance of the sensor to the rotation center of the robot.
+	 */
 	public LightFeatureDetector(LightSensor lightSensor, boolean invert, double xOffset, double yOffset) {
 		this(lightSensor, 50, invert, xOffset, yOffset);
 	}
 
+	/**
+	 * Creates a new {@link LightFeatureDetector} using the given light sensor. The detection threshold is
+	 * set to the given threshold. The offsets determine the position of the sensor with respect to the center of the robot.
+	 * The detector will report events when the light measurement is more than the given threshold if invert is true.
+	 * 
+	 * To calculate the offsets use the following guide: 
+	 * 
+	 * @param lightSensor the light sensor to use.
+	 * @param threshold the detection threshold. It will be clamped to [0, 100].
+	 * @param invert
+	 * @param xOffset distance of the sensor to the rotation center of the robot.
+	 * @param yOffset distance of the sensor to the rotation center of the robot.
+	 */
 	public LightFeatureDetector(LightSensor lightSensor, int threshold, boolean invert, double xOffset, double yOffset) {
 		super(DELAY);
 		this.lightSensor = lightSensor;
 		this.threshold = threshold;
 		this.invert = invert;
 
-		// Calculate angle and distance of light sensor from center:
+		/* Clamp the detection threshold. */
+		this.threshold = (this.threshold > 100) ? 100 : this.threshold;
+		this.threshold = (this.threshold < 0)   ? 0   : this.threshold;
+		
+		/* Calculate angle and distance of light sensor from center. */
 		Point robot_center = new Point(0, 0);
 		Point bumper_p = new Point((float)xOffset, (float)yOffset);
 		range = (float)robot_center.distance(xOffset, yOffset);
@@ -56,6 +175,9 @@ public class LightFeatureDetector extends FeatureDetectorAdapter {
 	@Override
 	public Feature scan() {
 		RangeFeature rf = null;
+
+		/* Calculate the distance and angle of the feature and return it. Take into
+		 * account if the detection factor is inverted. */
 		if(invert) {
 			if(lightSensor.getLightValue() >= threshold) {
 				RangeReading rr = new RangeReading(angle, range);
@@ -74,6 +196,8 @@ public class LightFeatureDetector extends FeatureDetectorAdapter {
 	protected void notifyListeners(Feature feature) {
 		super.notifyListeners(feature);
 
+		/* Stall the detector until the detection ends to avoid notifying the listeners
+		 * multiple times for the same feature. */
 		if(invert) {
 			while(lightSensor.getLightValue() >= threshold);
 		} else {

src/ve/ucv/ciens/cicore/icaro/ryabi/sensors/SensorEvent.java

@@ -1,12 +1,43 @@
+/*
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * See the LICENSE file for more details.
+ */
+
 package ve.ucv.ciens.cicore.icaro.ryabi.sensors;
 
 import lejos.robotics.objectdetection.Feature;
 import lejos.robotics.objectdetection.FeatureDetector;
 
+/**
+ * Container class that aggregates a detected {@link Feature} and the {@link FeatureDetector} that found it.
+ * 
+ * @author Miguel Angel Astor Romero.
+ */
 public class SensorEvent {
+	/**
+	 * A detected feature.
+	 */
 	public Feature feature;
+	
+	/**
+	 * The detector responsible for finding the feature.
+	 */
 	public FeatureDetector detector;
 
+	/**
+	 * Commodity constructor.
+	 * 
+	 * @param feature the detected feature.
+	 * @param detector the respective detector.
+	 */
 	public SensorEvent(Feature feature, FeatureDetector detector) {
 		this.feature = feature;
 		this.detector = detector;

src/ve/ucv/ciens/cicore/icaro/ryabi/sensors/SensorEventsQueue.java

@@ -1,3 +1,16 @@
+/*
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * See the LICENSE file for more details.
+ */
+
 package ve.ucv.ciens.cicore.icaro.ryabi.sensors;
 
 import java.util.Queue;
@@ -7,6 +20,11 @@ import lejos.robotics.objectdetection.FeatureDetector;
 import lejos.robotics.objectdetection.RangeFeatureDetector;
 import lejos.robotics.objectdetection.TouchFeatureDetector;
 
+/**
+ * A singleton {@link Queue} holder that keeps track of the different events detected by the sensors in FIFO order.
+ * 
+ * @author Miguel Angel Astor Romero.
+ */
 public final class SensorEventsQueue {
 	private Queue<SensorEvent> touchEventsQueue;
 	private Queue<SensorEvent> lightEventsQueue;
@@ -22,10 +40,21 @@ public final class SensorEventsQueue {
 		private static final SensorEventsQueue INSTANCE = new SensorEventsQueue();
 	}
 
+	/**
+	 * Gets the singleton instance of this class.
+	 * 
+	 * @return the instance.
+	 */
 	public static SensorEventsQueue getInstance() {
 		return SingletonHolder.INSTANCE;
 	}
 
+	/**
+	 * Adds a new event to the respective queue based on it's type.
+	 * 
+	 * @param feature the detected feature.
+	 * @param detector the respective detector.
+	 */
 	public synchronized void addEvent(Feature feature, FeatureDetector detector) {
 		SensorEvent event = new SensorEvent(feature, detector);
 

src/ve/ucv/ciens/cicore/icaro/ryabi/utils/QuitButtonListener.java

@@ -1,29 +1,59 @@
+/*
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * See the LICENSE file for more details.
+ */
+
 package ve.ucv.ciens.cicore.icaro.ryabi.utils;
 
 import lejos.nxt.Button;
 import lejos.nxt.ButtonListener;
 
+/**
+ * This class implements a {@link ButtonListener} that force-quits the program if the escape button of the robot
+ * has been pressed for 3 seconds or more.
+ * 
+ * @author Miguel Angel Astor Romero.
+ */
 public class QuitButtonListener implements ButtonListener {
-	TimeCounter counter;
+	private TimeCounter counter;
 
 	@Override
 	public void buttonPressed(Button b) {
+		/* Start counting the time as soon as the button is pressed. */
 		counter = new TimeCounter();
 		counter.start();
 	}
 
 	@Override
 	public void buttonReleased(Button b) {
+		/* Stop counting as soon as the button is released. */
 		if(counter != null) {
 			counter.finish();
 			counter = null;
 		}
 	}
 
+	/**
+	 * This {@link Thread} counts time in intervals of 100 milliseconds and stops the program if
+	 * the counted time exceeds 3000 milliseconds.
+	 * 
+	 * @author Miguel Angel Astor Romero.*
+	 */
 	class TimeCounter extends Thread {
 		private boolean done;
 		private long timeMilisBefore;
 
+		/**
+		 * Creates a new {@link TimeCounter}
+		 */
 		public TimeCounter() {
 			done = false;
 		}
@@ -32,16 +62,24 @@ public class QuitButtonListener implements ButtonListener {
 		public void run() {
 			long timeMilisNow;
 
+			/* Get the time before counting. */
 			timeMilisBefore = System.currentTimeMillis();
+
+			/* Start counting. */
 			while(!done) {
+				/* Sleep for 100 milliseconds. and then check the time. */
 				try { Thread.sleep(100); } catch (InterruptedException e) { }
 				timeMilisNow = System.currentTimeMillis();
 
+				/* If the time delta since counting started is greater than 3 seconds then force quit. */
 				if(timeMilisNow - timeMilisBefore > 3000)
 					System.exit(0);
 			}
 		}
 
+		/**
+		 * Stops the counting loop.
+		 */
 		public void finish() {
 			done = true;
 		}

src/ve/ucv/ciens/cicore/icaro/ryabi/utils/RobotStateSingleton.java

@@ -1,5 +1,23 @@
+/*
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * See the LICENSE file for more details.
+ */
+
 package ve.ucv.ciens.cicore.icaro.ryabi.utils;
 
+/**
+ * Singleton class that holds the current state of the robot's goal. See {@link States}.
+ * 
+ * @author Miguel Angel Astor Romero.
+ */
 public final class RobotStateSingleton {
 	private States state;
 
@@ -11,14 +29,29 @@ public final class RobotStateSingleton {
 		private static final RobotStateSingleton INSTANCE = new RobotStateSingleton();
 	}
 
+	/**
+	 * Returns the singleton instance of this class.
+	 * 
+	 * @return the instance.
+	 */
 	public static RobotStateSingleton getInstance() {
 		return SingletonHolder.INSTANCE;
 	}
 
+	/**
+	 * Changes the state of the robot.
+	 * 
+	 * @param state the state to set.
+	 */
 	public synchronized void setState(States state) {
 		this.state = state;
 	}
 
+	/**
+	 * Returns the current state of the robot.
+	 * 
+	 * @return the current state.
+	 */
 	public States getState() {
 		return this.state;
 	}

src/ve/ucv/ciens/cicore/icaro/ryabi/utils/Rotations.java

@@ -1,17 +1,43 @@
+/*
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * See the LICENSE file for more details.
+ */
 package ve.ucv.ciens.cicore.icaro.ryabi.utils;
 
 import lejos.nxt.addon.CompassHTSensor;
 import lejos.robotics.navigation.ArcRotateMoveController;
 
+/**
+ * Helper class that allows the robot to make 90 degrees turns to the left and right and 180 degrees turns.
+ * 
+ * @author Miguel Angel Astor Romero.
+ */
 public abstract class Rotations {
+	/**
+	 * Rotates the robot 90 degrees clockwise.
+	 * 
+	 * @param compass A {@link CompassHTSensor} to use to make good turns.
+	 * @param pilot The {@link ArcRotateMoveController} implementation that controls the robot.
+	 */
 	public static void rotate90(CompassHTSensor compass, ArcRotateMoveController pilot) {
 		float cMeasure;
 
+		/* First reset the compass. */
 		compass.resetCartesianZero();
 
+		/* Start rotating slowly. */
 		pilot.setRotateSpeed(25);
 		pilot.rotate(Integer.MIN_VALUE - 1, true);
 
+		/* Keep rotating until the robot has turned 90 degrees. */
 		cMeasure = 360.0f;
 		try { Thread.sleep(200); } catch (InterruptedException e) { }
 		while(cMeasure > 270.0f) {
@@ -20,14 +46,23 @@ public abstract class Rotations {
 		pilot.stop();
 	}
 
+	/**
+	 * Rotates the robot 90 degrees counterclockwise.
+	 * 
+	 * @param compass A {@link CompassHTSensor} to use to make good turns.
+	 * @param pilot The {@link ArcRotateMoveController} implementation that controls the robot.
+	 */
 	public static void rotateM90(CompassHTSensor compass, ArcRotateMoveController pilot) {
 		float cMeasure;
 
+		/* First reset the compass. */
 		compass.resetCartesianZero();
 
+		/* Start rotating slowly. */
 		pilot.setRotateSpeed(25);
 		pilot.rotate(-3000, true);
 
+		/* Keep rotating until the robot has turned 90 degrees. */
 		cMeasure = 0.0f;
 		try { Thread.sleep(200); } catch (InterruptedException e) { }
 		while(cMeasure < 90.0f) {
@@ -36,14 +71,23 @@ public abstract class Rotations {
 		pilot.stop();
 	}
 
+	/**
+	 * Rotates the robot 180 degrees clockwise.
+	 * 
+	 * @param compass A {@link CompassHTSensor} to use to make good turns.
+	 * @param pilot The {@link ArcRotateMoveController} implementation that controls the robot.
+	 */
 	public static void rotate180(CompassHTSensor compass, ArcRotateMoveController pilot) {
 		float cMeasure;
 
+		/* First reset the compass. */
 		compass.resetCartesianZero();
 
+		/* Start rotating slowly. */
 		pilot.setRotateSpeed(25);
 		pilot.rotate(Integer.MIN_VALUE - 1, true);
 
+		/* Keep rotating until the robot has turned 90 degrees. */
 		cMeasure = 360.0f;
 		try { Thread.sleep(200); } catch (InterruptedException e) { }
 		while(cMeasure > 180.0f) {

src/ve/ucv/ciens/cicore/icaro/ryabi/utils/States.java

@@ -1,5 +1,36 @@
+/*
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * See the LICENSE file for more details.
+ */
+
 package ve.ucv.ciens.cicore.icaro.ryabi.utils;
 
+import ve.ucv.ciens.cicore.icaro.ryabi.behaviors.CatchBallBehavior;
+import ve.ucv.ciens.cicore.icaro.ryabi.behaviors.SearchBallBehavior;
+import ve.ucv.ciens.cicore.icaro.ryabi.behaviors.VictoryBehavior;
+import ve.ucv.ciens.cicore.icaro.ryabi.behaviors.WanderBehavior;
+
+/**
+ * This enum defines the valid robot states. The allowed states are as follows.
+ * 
+ * <ul>
+ *   <li> WANDER: see {@link WanderBehavior}. </li>
+ *   <li> SEARCH_BALL: see {@link SearchBallBehavior}. </li>
+ *   <li> BALL_FOUND: see {@link CatchBallBehavior}. </li>
+ *   <li> VICTORY: see {@link VictoryBehavior}. </li>
+ *   <li> DONE: no behavior is active and the program ends. </li>
+ * </ul>
+ * 
+ * @author Miguel Angel Astor Romero.
+ */
 public enum States {
 	WANDER, SEARCH_BALL, BALL_FOUND, VICTORY, DONE;
 }