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

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