dsl/runtime/src/nl/ru/des/BasicBehaviour.java

   1 package nl.ru.des;
   2
   3 import lejos.robotics.RegulatedMotor;
   4 import lejos.robotics.subsumption.Behavior;
   5 import nl.ru.des.sensors.SensorCollector;
   6
   7 public abstract class BasicBehaviour implements Behavior{
   8         protected boolean suppressed;
   9         protected RegulatedMotor leftMotor, rightMotor, measMotor;
  10         protected SensorCollector sensors;
  11         protected long time;
  12
  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;
  19         }
  20
  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);
  27                 leftMotor.stop(true);
  28         }
  29
  30         protected void rockMeasure(){
  31
  32         }
  33
  34         protected void lakeMeasure(){
  35
  36         }
  37
  38         protected void rightTurn(int angle){
  39
  40         }
  41
  42         protected void leftTurn(int angle){
  43
  44         }
  45
  46         @Override
  47         public void action() {
  48                 suppressed = false;
  49         }
  50
  51         @Override
  52         public void suppress() {
  53                 suppressed = true;
  54         }
  55
  56         @Override
  57         public boolean takeControl() {
  58                 return true;
  59         }
  60 }