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

   1 package nl.ru.des;
   2
   3 import lejos.hardware.ev3.EV3;
   4 import lejos.hardware.ev3.LocalEV3;
   5 import lejos.hardware.lcd.Font;
   6 import lejos.hardware.lcd.TextLCD;
   7 import lejos.hardware.motor.EV3LargeRegulatedMotor;
   8 import lejos.hardware.port.MotorPort;
   9 import lejos.hardware.sensor.EV3ColorSensor;
  10 import lejos.hardware.sensor.EV3TouchSensor;
  11 import lejos.hardware.sensor.EV3UltrasonicSensor;
  12 import lejos.robotics.SampleProvider;
  13 import lejos.robotics.subsumption.Arbitrator;
  14
  15 public class MarsRover {
  16         public static final float SAMPLERATE = 100;
  17
  18         @SuppressWarnings("resource")
  19         public static void main(String[] args) {
  20                 EV3 brick = LocalEV3.get();
  21                 TextLCD tlcd = brick.getTextLCD(Font.getSmallFont());
  22                 LCDPrinter.startLCDPrinter(tlcd);
  23                 System.setOut(LCDPrinter.getPrefixedPrintstream("out: ", tlcd));
  24                 System.setErr(LCDPrinter.getPrefixedPrintstream("err: ", tlcd));
  25
  26                 LCDPrinter.print("Loading keylistener...");
  27                 brick.getKey("Escape").addKeyListener(new ButtonListener());
  28
  29                 LCDPrinter.print("Loading motors...");
  30                 EV3LargeRegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.D);
  31                 EV3LargeRegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.A);
  32                 leftMotor.setSpeed(Constants.speed);
  33                 rightMotor.setSpeed(Constants.speed);
  34                 rightMotor.setAcceleration(Constants.acceleration);
  35                 leftMotor.setAcceleration(Constants.acceleration);
  36
  37                 LCDPrinter.print("Loading touch sensors...");
  38                 SampleProvider leftTouch = new EV3TouchSensor(brick.getPort("S1")).getTouchMode();
  39                 SampleProvider rightTouch = new EV3TouchSensor(brick.getPort("S4")).getTouchMode();
  40
  41                 LCDPrinter.print("Loading color sensor...");
  42                 SampleProvider color = new EV3ColorSensor(brick.getPort("S2")).getColorIDMode();
  43
  44                 LCDPrinter.print("Loading ultrasone sensor...");
  45                 SampleProvider ultraSonic = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
  46
  47                 LCDPrinter.print("Initializing behaviours...");
  48                 SensorCollector sensors = new SensorCollector(ultraSonic, color, leftTouch, rightTouch);
  49
  50                 LCDPrinter.print("Initializing color collector...");
  51                 ColorMemory colorMemory = new ColorMemory(color);
  52
  53                 Arbitrator a;
  54                 for(Mission m : Missions.getMissions(sensors, rightMotor, leftMotor, colorMemory)){
  55                         LCDPrinter.print("Start " + m.name + " mission...");
  56                         a = new Arbitrator(m.behaviours);
  57                         a.start();
  58                 }
  59         }
  60 }