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

   1 package nl.ru.des;
   2
   3 import java.io.File;
   4
   5 import lejos.hardware.motor.EV3LargeRegulatedMotor;
   6 import lejos.hardware.sensor.EV3TouchSensor;
   7 import lejos.robotics.SampleProvider;
   8 import lejos.utility.Delay;
   9
  10 public class AvoidLowObjectBehaviour extends AvoidBehaviour {
  11         private SampleProvider rightSample, leftSample;
  12         private float[] samples;
  13         private long lastPush = 0;
  14
  15         public AvoidLowObjectBehaviour(EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor,
  16                         EV3TouchSensor leftTouch, EV3TouchSensor rightTouch) {
  17                 super(leftMotor, rightMotor, new File("bump.wav"));
  18                 rightSample = rightTouch.getTouchMode();
  19                 leftSample = leftTouch.getTouchMode();
  20                 samples = new float[rightTouch.sampleSize()];
  21         }
  22
  23         @Override
  24         public boolean takeControl() {
  25                 //Check if left sensor is pressed
  26                 leftSample.fetchSample(samples, 0);
  27                 boolean takeControl = false;
  28                 if(samples[0] == 1){
  29                         super.setAvoidDirection(false);
  30                         takeControl = true;
  31                         lastPush = System.currentTimeMillis();
  32                 }
  33
  34                 //Check if right sensor is pressed
  35                 rightSample.fetchSample(samples, 0);
  36                 if(samples[0] == 1){
  37                         super.setAvoidDirection(true);
  38                         takeControl = true;
  39                         lastPush = System.currentTimeMillis();
  40                 }
  41                 return takeControl || System.currentTimeMillis()-lastPush < 1000;
  42         }
  43
  44         @Override
  45         public void action() {
  46                 rightMotor.backward();
  47                 leftMotor.backward();
  48                 Delay.msDelay(200);
  49                 leftMotor.forward();
  50                 rightMotor.forward();
  51                 super.action();
  52         }
  53 }