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

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