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

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