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