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 boolean finished;
  10         protected RegulatedMotor leftMotor, rightMotor, measMotor;
  11         protected SensorCollector sensors;
  12         protected long time;
  13
  14         public BasicBehaviour(SensorCollector sensors, RegulatedMotor leftMotor,
  15                         RegulatedMotor rightMotor, RegulatedMotor measMotor){
  16                 this.leftMotor = leftMotor;
  17                 this.rightMotor = rightMotor;
  18                 this.measMotor = measMotor;
  19                 this.sensors = sensors;
  20                 suppressed = false;
  21                 finished = true;
  22         }
  23
  24         protected void reset(){
  25                 finished = true;
  26                 rightMotor.setSpeed(Constants.speed);
  27                 rightMotor.setAcceleration(Constants.acceleration);
  28                 leftMotor.setSpeed(Constants.speed);
  29                 leftMotor.setAcceleration(Constants.acceleration);
  30                 rightMotor.stop(true);
  31                 leftMotor.stop(true);
  32         }
  33
  34         protected void measure(){
  35                 measMotor.backward();
  36                 while(!suppressed && !measMotor.isStalled()){
  37                         Thread.yield();
  38                 }
  39                 measMotor.forward();
  40                 while(!suppressed && !measMotor.isStalled()){
  41                         Thread.yield();
  42                 }
  43                 measMotor.stop(true);
  44                 rightTurn(90);
  45         }
  46
  47         protected void turnRandom(int from, int to){
  48                 int degrees = Marster.random.nextInt(to-from)+from;
  49                 if(Marster.random.nextBoolean()){
  50                         rightTurn(degrees);
  51                 } else {
  52                         leftTurn(degrees);
  53                 }
  54         }
  55
  56         protected void rightTurn(int angle){
  57                 rightMotor.stop(true);
  58                 leftMotor.stop();
  59                 sensors.resetGyro();
  60                 rightMotor.backward();
  61                 leftMotor.forward();
  62                 while(!suppressed && Math.abs(sensors.gyro()) < angle){
  63                         Thread.yield();
  64                 }
  65                 rightMotor.stop(true);
  66                 leftMotor.stop(true);
  67                 LCDPrinter.print(Float.toString(sensors.gyro()));
  68         }
  69
  70         protected void leftTurn(int angle){
  71                 rightMotor.stop(true);
  72                 leftMotor.stop();
  73                 sensors.resetGyro();
  74                 leftMotor.backward();
  75                 rightMotor.forward();
  76                 while(!suppressed && Math.abs(sensors.gyro()) < angle){
  77                         Thread.yield();
  78                 }
  79                 rightMotor.stop(true);
  80                 leftMotor.stop(true);
  81                 LCDPrinter.print(Float.toString(sensors.gyro()));
  82         }
  83
  84         @Override
  85         public void action() {
  86                 suppressed = false;
  87                 finished = false;
  88         }
  89
  90         @Override
  91         public void suppress() {
  92                 suppressed = true;
  93                 finished = true;
  94         }
  95
  96         @Override public boolean takeControl(){
  97                 return true;
  98         }
  99 }