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
  14 public class MarsRover {
  15         public static final float SAMPLERATE = 100;
  16
  17         @SuppressWarnings("resource")
  18         public static void main(String[] args) {
  19                 EV3 brick = LocalEV3.get();
  20                 TextLCD tlcd = brick.getTextLCD(Font.getSmallFont());
  21                 LCDPrinter.startLCDPrinter(tlcd);
  22                 System.setOut(LCDPrinter.getPrefixedPrintstream("out: ", tlcd));
  23                 System.setErr(LCDPrinter.getPrefixedPrintstream("err: ", tlcd));
  24
  25                 LCDPrinter.print("Loading keylistener...");
  26                 brick.getKey("Escape").addKeyListener(new ButtonListener());
  27
  28                 LCDPrinter.print("Loading motors...");
  29                 EV3LargeRegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.D);
  30                 EV3LargeRegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.A);
  31                 leftMotor.setSpeed(Constants.speed);
  32                 rightMotor.setSpeed(Constants.speed);
  33                 rightMotor.setAcceleration(Constants.acceleration);
  34                 leftMotor.setAcceleration(Constants.acceleration);
  35
  36                 LCDPrinter.print("Loading touch sensors...");
  37                 SampleProvider leftTouch = new EV3TouchSensor(brick.getPort("S1")).getTouchMode();
  38                 SampleProvider rightTouch = new EV3TouchSensor(brick.getPort("S4")).getTouchMode();
  39
  40                 LCDPrinter.print("Loading color sensor...");
  41                 SampleProvider color = new EV3ColorSensor(brick.getPort("S2")).getColorIDMode();
  42
  43                 LCDPrinter.print("Loading ultrasone sensor...");
  44                 SampleProvider ultraSonic = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
  45
  46                 LCDPrinter.print("Initializing behaviours...");
  47                 SensorCollector sensors = new SensorCollector(ultraSonic, color, leftTouch, rightTouch);
  48         }
  49 }