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 int 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                 suppressed = 0;
  29         }
  30
  31         protected void rockMeasure(){
  32
  33         }
  34
  35         protected void lakeMeasure(){
  36
  37         }
  38
  39         protected void rightTurn(int angle){
  40                 float init = sensors.gyro();
  41                 rightMotor.backward();
  42                 leftMotor.forward();
  43
  44                 while(suppressed != 2 && sensors.gyro()-90>init){
  45                         Thread.yield();
  46                 }
  47         }
  48
  49         protected void leftTurn(int angle){
  50                 float init = sensors.gyro();
  51                 leftMotor.backward();
  52                 rightMotor.forward();
  53                 while(suppressed != 2 && sensors.gyro()+90<init){
  54                         Thread.yield();
  55                 }
  56         }
  57
  58         @Override
  59         public void action() {
  60                 suppressed = 1;
  61         }
  62
  63         @Override
  64         public void suppress() {
  65                 suppressed = 2;
  66         }
  67
  68         @Override public boolean takeControl(){
  69                 return true;
  70         }
  71 }