/* * b_CanKick_r.java */package EDU.gatech.cc.is.clay;import java.lang.*;import EDU.gatech.cc.is.abstractrobot.KickActuator;import EDU.gatech.cc.is.util.Vec2;/** * Report whether we are in a position to kick the ball. * <P> * For detailed information on how to configure behaviors, see the * <A HREF="../clay/docs/index.html">Clay page</A>. * <P> * <A HREF="../COPYRIGHT.html">Copyright</A> * (c)1997, 1998 Tucker Balch * * @author Tucker Balch * @version $Revision: 1.1 $ */public class b_CanKick_r extends NodeBoolean	{	/** 	 * Turn debug printing on or off.	 */	public static final boolean DEBUG = Node.DEBUG;	private KickActuator abstract_robot;	/**	 * Instantiate a b_CanKick_r schema.	 * @param ar KickActuator, the abstract_robot object 	 * that provides hardware support.	 */	public b_CanKick_r(KickActuator ar)		{		if (DEBUG) System.out.println("b_CanKick_r: instantiated");		abstract_robot = ar;		}	/**	 * Return true if we can kick the ball.	 * @param timestamp long, only get new 	 *	information if timestamp > than last call or timestamp == -1.	 * @return true if we can kick the ball.	 */	public boolean Value(long timestamp)		{		if (DEBUG) System.out.println("b_CanKick_r: Value()");		return(abstract_robot.canKick(timestamp));		}        }