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

   1 package nl.ru.des;
   2
   3 import lejos.hardware.Button;
   4 import lejos.hardware.ev3.EV3;
   5 import lejos.hardware.ev3.LocalEV3;
   6 import lejos.hardware.lcd.Font;
   7 import lejos.hardware.lcd.TextLCD;
   8 import lejos.hardware.motor.EV3LargeRegulatedMotor;
   9 import lejos.hardware.motor.EV3MediumRegulatedMotor;
  10 import lejos.hardware.port.MotorPort;
  11 import lejos.hardware.sensor.EV3ColorSensor;
  12 import lejos.hardware.sensor.EV3GyroSensor;
  13 import lejos.hardware.sensor.EV3TouchSensor;
  14 import lejos.hardware.sensor.EV3UltrasonicSensor;
  15 import lejos.hardware.sensor.NXTLightSensor;
  16 import lejos.robotics.RegulatedMotor;
  17 import lejos.robotics.SampleProvider;
  18 import lejos.robotics.subsumption.Arbitrator;
  19 import nl.ru.des.sensors.BTController;
  20 import nl.ru.des.sensors.RemoteSensors;
  21 import nl.ru.des.sensors.SensorCollector;
  22
  23 public class Marster {
  24         public static Arbitrator arb;
  25
  26         @SuppressWarnings("resource")
  27         public static void main(String[] args) {
  28                 EV3 brick = LocalEV3.get();
  29                 TextLCD tlcd = brick.getTextLCD(Font.getSmallFont());
  30                 LCDPrinter.startLCDPrinter(tlcd);
  31                 System.setOut(LCDPrinter.getPrefixedPrintstream("out: ", tlcd));
  32                 System.setErr(LCDPrinter.getPrefixedPrintstream("err: ", tlcd));
  33
  34                 LCDPrinter.print("Loading keylistener...");
  35                 brick.getKey("Escape").addKeyListener(new ButtonListener());
  36
  37                 if(brick.getName().equalsIgnoreCase("Rover6") || brick.getName().equalsIgnoreCase("Rover8")){
  38                         LCDPrinter.print("Starting as a slave...");
  39                         LCDPrinter.print("My name is " + brick.getName());
  40                         LCDPrinter.print("Loading touch sensors...");
  41                         SampleProvider leftTouch = new EV3TouchSensor(brick.getPort("S1")).getTouchMode();
  42                         SampleProvider rightTouch = new EV3TouchSensor(brick.getPort("S2")).getTouchMode();
  43
  44                         LCDPrinter.print("Loading ultrasone sensor...");
  45                         SampleProvider frontUltra = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
  46
  47                         LCDPrinter.print("Loading color sensors...");
  48                         SampleProvider color = new EV3ColorSensor(brick.getPort("S4")).getColorIDMode();
  49                         RemoteSensors rs = new RemoteSensors(leftTouch, rightTouch, frontUltra, color);
  50
  51                         BTController.startSlave();
  52                         rs.start(BTController.buf);
  53                 } else {
  54                         String slave = brick.getName().equalsIgnoreCase("Rover5") ? "Rover6" : "Rover8";
  55                         LCDPrinter.print("Starting as as master...");
  56                         LCDPrinter.print("My name is " + brick.getName());
  57                         LCDPrinter.print("Going to connect to: " + slave);
  58                         LCDPrinter.print("Loading motors...");
  59                         RegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.A);
  60                         RegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.B);
  61                         RegulatedMotor measMotor = new EV3MediumRegulatedMotor(MotorPort.C);
  62 //                      leftMotor.setSpeed(Constants.speed);
  63 //                      rightMotor.setSpeed(Constants.speed);
  64 //                      measMotor.setSpeed(100);
  65 //                      rightMotor.setAcceleration(Constants.acceleration);
  66 //                      leftMotor.setAcceleration(Constants.acceleration);
  67 //                      measMotor.setAcceleration(100);
  68
  69                         LCDPrinter.print("Loading touch sensors...");
  70                         SampleProvider leftLight = new NXTLightSensor(brick.getPort("S1")).getRedMode();
  71                         SampleProvider rightLight = new NXTLightSensor(brick.getPort("S2")).getRedMode();
  72
  73                         LCDPrinter.print("Loading ultrasone sensor...");
  74                         SampleProvider backUltra = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
  75
  76                         LCDPrinter.print("Loading gyro sensor...");
  77                         SampleProvider gyro = new EV3GyroSensor(brick.getPort("S4")).getAngleAndRateMode();
  78
  79                         BTController.startMaster(slave, new SensorCollector(backUltra, leftLight, rightLight, gyro));
  80                         LCDPrinter.print("Finished loading");
  81                         Button.waitForAnyPress();
  82 //                      Arbitrator a;
  83 //                      LinkedList<Mission> missions = Missions.getMissions(sensors, rightMotor, leftMotor, colorMemory);
  84 //                      for(Mission m : missions){
  85 //                              LCDPrinter.print("Start " + m.name + " mission...");
  86 //                              a = new Arbitrator(m.behaviours);
  87 //                              a.start();
  88 //                      }
  89                 }
  90         }
  91 }