3 import lejos
.robotics
.RegulatedMotor
;
4 import lejos
.robotics
.subsumption
.Behavior
;
5 import nl
.ru
.des
.sensors
.SensorCollector
;
7 public abstract class BasicBehaviour
implements Behavior
{
8 protected boolean suppressed
;
9 protected RegulatedMotor leftMotor
, rightMotor
, measMotor
;
10 protected SensorCollector sensors
;
13 public BasicBehaviour(SensorCollector sensors
, RegulatedMotor leftMotor
,
14 RegulatedMotor rightMotor
, RegulatedMotor measMotor
){
15 this.leftMotor
= leftMotor
;
16 this.rightMotor
= rightMotor
;
17 this.measMotor
= measMotor
;
18 this.sensors
= sensors
;
21 protected void reset(){
22 rightMotor
.setSpeed(Constants
.speed
);
23 rightMotor
.setAcceleration(Constants
.acceleration
);
24 leftMotor
.setSpeed(Constants
.speed
);
25 leftMotor
.setAcceleration(Constants
.acceleration
);
26 rightMotor
.stop(true);
30 protected void rockMeasure(){
34 protected void lakeMeasure(){
39 public void action() {
44 public void suppress() {
49 public boolean takeControl() {