mart/ev3/ex1/nl/ru/des/AvoidBehaviour.java

   1 package nl.ru.des;
   2
   3 import lejos.hardware.motor.EV3LargeRegulatedMotor;
   4 import lejos.robotics.subsumption.Behavior;
   5
   6 public abstract class AvoidBehaviour implements Behavior {
   7         protected EV3LargeRegulatedMotor rightMotor, leftMotor, avoidMotor;
   8         private String audioFile;
   9
  10         public AvoidBehaviour(EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor, String audioFile){
  11                 this.rightMotor = rightMotor;
  12                 this.leftMotor = leftMotor;
  13                 this.avoidMotor = leftMotor;
  14                 this.audioFile = audioFile;
  15         }
  16
  17         public void setAvoidDirection(boolean avoidLeft){
  18                 avoidMotor = avoidLeft ? leftMotor : rightMotor;
  19         }
  20
  21         @Override
  22         public void action() {
  23                 WavPlayer.playWav(audioFile);
  24                 avoidMotor.setAcceleration(6000);
  25                 avoidMotor.backward();
  26                 while(takeControl());
  27                 avoidMotor.forward();
  28                 avoidMotor.setAcceleration(1000);
  29         }
  30
  31         @Override
  32         public void suppress() {
  33                 avoidMotor.forward();
  34         }
  35 }