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

   1 package nl.ru.des;
   2
   3 import java.io.File;
   4
   5 import lejos.hardware.motor.EV3LargeRegulatedMotor;
   6 import lejos.robotics.subsumption.Behavior;
   7
   8 public abstract class AvoidBehaviour implements Behavior {
   9         protected EV3LargeRegulatedMotor rightMotor, leftMotor, avoidMotor;
  10         private File audioFile;
  11
  12         public AvoidBehaviour(EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor, File audioFile){
  13                 this.rightMotor = rightMotor;
  14                 this.leftMotor = leftMotor;
  15                 this.avoidMotor = leftMotor;
  16                 this.audioFile = audioFile;
  17         }
  18
  19         public void setAvoidDirection(boolean avoidLeft){
  20                 avoidMotor = avoidLeft ? leftMotor : rightMotor;
  21         }
  22
  23         @Override
  24         public void action() {
  25                 WavPlayer.playWav(audioFile);
  26                 avoidMotor.setAcceleration(6000);
  27                 avoidMotor.backward();
  28                 while(takeControl());
  29                 avoidMotor.forward();
  30                 avoidMotor.setAcceleration(1000);
  31         }
  32
  33         @Override
  34         public void suppress() {
  35                 avoidMotor.forward();
  36         }
  37 }