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 import nl.ru.des.sensors.SensorCollector;
   6
   7 public abstract class BasicBehaviour implements Behavior{
   8         protected boolean suppressed;
   9         protected EV3LargeRegulatedMotor leftMotor, rightMotor;
  10         protected SensorCollector sensors;
  11         protected long time;
  12
  13         public BasicBehaviour(SensorCollector sensors, EV3LargeRegulatedMotor leftMotor,
  14                         EV3LargeRegulatedMotor rightMotor){
  15                 this.leftMotor = leftMotor;
  16                 this.rightMotor = rightMotor;
  17                 this.sensors = sensors;
  18         }
  19
  20         protected void reset(){
  21                 rightMotor.setSpeed(Constants.speed);
  22                 rightMotor.setAcceleration(Constants.acceleration);
  23                 leftMotor.setSpeed(Constants.speed);
  24                 leftMotor.setAcceleration(Constants.acceleration);
  25                 rightMotor.stop(true);
  26                 leftMotor.stop(true);
  27         }
  28
  29         @Override
  30         public void action() {
  31                 suppressed = false;
  32         }
  33
  34         @Override
  35         public void suppress() {
  36                 suppressed = true;
  37         }
  38
  39         @Override
  40         public boolean takeControl() {
  41                 return true;
  42         }
  43 }