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

   1 package nl.ru.des;
   2
   3 import lejos.hardware.motor.EV3LargeRegulatedMotor;
   4 import lejos.robotics.subsumption.Behavior;
   5
   6 public abstract class BasicBehaviour implements Behavior{
   7         protected boolean suppressed;
   8         protected EV3LargeRegulatedMotor leftMotor, rightMotor;
   9         protected SensorCollector sensors;
  10         protected ColorMemory colors;
  11         protected long time;
  12
  13         public BasicBehaviour(SensorCollector sensors, EV3LargeRegulatedMotor leftMotor,
  14                         EV3LargeRegulatedMotor rightMotor, ColorMemory colors){
  15                 this.leftMotor = leftMotor;
  16                 this.rightMotor = rightMotor;
  17                 this.colors = colors;
  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         @Override
  31         public void action() {
  32                 suppressed = false;
  33         }
  34
  35         @Override
  36         public void suppress() {
  37                 suppressed = true;
  38         }
  39
  40         @Override
  41         public boolean takeControl() {
  42                 return true;
  43         }
  44 }