public void warn(Event event) {
		switch(event.getTypeEvent())
		{
		case ROBOT_DETECTED :
			if(state > -1) {
				saveState = state;
				state = -1;
			}
			else
				ignore();
			break;
		case WHITE_DETECTED :
		case COLOR_DETECTED :
			state = 1;
			break;
		case NOISE_DETECTED :
			state = 2;
			break;
		case BUMP :
			state = 3;
			break;
		case CHILDBEHAVIOR_END :
			if(state == -1) {
				if(event.getName().equals("Stayed"))
					state = saveState;
				else
					state = 0;
			}
			else
				ignore();
			break;
		default:
			ignore();
			break;
		}
	}