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

   1 package nl.ru.des;
   2
   3 import java.util.LinkedList;
   4 import java.util.Random;
   5
   6 import lejos.hardware.Button;
   7 import lejos.hardware.Sound;
   8 import lejos.hardware.ev3.EV3;
   9 import lejos.hardware.ev3.LocalEV3;
  10 import lejos.hardware.lcd.Font;
  11 import lejos.hardware.lcd.TextLCD;
  12 import lejos.hardware.motor.EV3LargeRegulatedMotor;
  13 import lejos.hardware.motor.EV3MediumRegulatedMotor;
  14 import lejos.hardware.port.MotorPort;
  15 import lejos.hardware.sensor.EV3ColorSensor;
  16 import lejos.hardware.sensor.EV3GyroSensor;
  17 import lejos.hardware.sensor.EV3TouchSensor;
  18 import lejos.hardware.sensor.EV3UltrasonicSensor;
  19 import lejos.hardware.sensor.NXTLightSensor;
  20 import lejos.robotics.RegulatedMotor;
  21 import lejos.robotics.SampleProvider;
  22 import nl.ru.des.sensors.BTController;
  23 import nl.ru.des.sensors.RemoteSensors;
  24 import nl.ru.des.sensors.SensorCollector;
  25
  26 public class Marster {
  27         public static Arbitrator arb;
  28         public static Random random;
  29
  30         @SuppressWarnings("resource")
  31         public static void main(String[] args) {
  32                 EV3 brick = LocalEV3.get();
  33                 TextLCD tlcd = brick.getTextLCD(Font.getSmallFont());
  34                 LCDPrinter.startLCDPrinter(tlcd);
  35                 System.setOut(LCDPrinter.getPrefixedPrintstream("out: ", tlcd));
  36                 System.setErr(LCDPrinter.getPrefixedPrintstream("err: ", tlcd));
  37
  38                 LCDPrinter.print("Loading keylistener...");
  39                 brick.getKey("Escape").addKeyListener(new ButtonListener());
  40
  41                 if(brick.getName().equalsIgnoreCase("Rover6") || brick.getName().equalsIgnoreCase("Rover8")){
  42                         LCDPrinter.print("Starting as a slave...");
  43                         LCDPrinter.print("My name is " + brick.getName());
  44                         LCDPrinter.print("Loading touch sensors...");
  45                         SampleProvider leftTouch = new EV3TouchSensor(brick.getPort("S1")).getTouchMode();
  46                         SampleProvider rightTouch = new EV3TouchSensor(brick.getPort("S2")).getTouchMode();
  47
  48                         LCDPrinter.print("Loading ultrasone sensor...");
  49                         SampleProvider frontUltra = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
  50
  51                         LCDPrinter.print("Loading color sensors...");
  52                         SampleProvider color = new EV3ColorSensor(brick.getPort("S4")).getColorIDMode();
  53                         RemoteSensors rs = new RemoteSensors(leftTouch, rightTouch, frontUltra, color);
  54
  55                         BTController.startSlave();
  56                         try {
  57                                 rs.start(BTController.buf);
  58                         } catch (Exception e){
  59                                 System.exit(0);
  60                         }
  61                 } else {
  62                         String slave = brick.getName().equalsIgnoreCase("Rover5") ? "Rover6" : "Rover8";
  63                         LCDPrinter.print("Starting as as master...");
  64                         LCDPrinter.print("My name is " + brick.getName());
  65                         LCDPrinter.print("Going to connect to: " + slave);
  66                         LCDPrinter.print("Loading motors...");
  67                         RegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.A);
  68                         RegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.B);
  69                         RegulatedMotor measMotor = new EV3MediumRegulatedMotor(MotorPort.C);
  70                         leftMotor.setSpeed(Constants.speed);
  71                         rightMotor.setSpeed(Constants.speed);
  72                         measMotor.setSpeed(50);
  73                         rightMotor.setAcceleration(Constants.acceleration);
  74                         leftMotor.setAcceleration(Constants.acceleration);
  75                         measMotor.setAcceleration(100);
  76
  77                         LCDPrinter.print("Loading touch sensors...");
  78                         SampleProvider leftLight = new NXTLightSensor(brick.getPort("S1")).getRedMode();
  79                         SampleProvider rightLight = new NXTLightSensor(brick.getPort("S2")).getRedMode();
  80
  81                         LCDPrinter.print("Loading ultrasone sensor...");
  82                         SampleProvider backUltra = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
  83
  84                         LCDPrinter.print("Loading gyro sensor...");
  85                         SensorCollector sc = new SensorCollector(backUltra, leftLight, rightLight, new EV3GyroSensor(brick.getPort("S4")));
  86
  87                         BTController.startMaster(slave, sc);
  88                         LCDPrinter.print("Finished loading");
  89                         sc.calibrate();
  90                         LinkedList<Mission> missions = Missions.getMissions(sc, rightMotor, leftMotor, measMotor);
  91                         random = new Random();
  92                         LCDPrinter.print("Press any button to start");
  93                         Button.waitForAnyEvent();
  94                         for(Mission m : missions){
  95                                 LCDPrinter.print("Start " + m.name + " mission...");
  96                                 arb = new Arbitrator(m.behaviours);
  97                                 sc.reset();
  98                                 Sound.buzz();
  99                                 arb.start();
 100                                 LCDPrinter.print(m.name + " finished!!1one!");
 101                         }
 102                         System.exit(0);
 103                 }
 104         }
 105 }