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

   1 package nl.ru.des;
   2
   3 import java.io.File;
   4
   5 import lejos.hardware.Audio;
   6 import lejos.hardware.ev3.EV3;
   7 import lejos.hardware.ev3.LocalEV3;
   8 import lejos.hardware.motor.EV3LargeRegulatedMotor;
   9 import lejos.hardware.port.MotorPort;
  10 import lejos.hardware.sensor.EV3TouchSensor;
  11 import lejos.hardware.sensor.EV3UltrasonicSensor;
  12 import lejos.hardware.sensor.NXTLightSensor;
  13 import lejos.robotics.subsumption.Arbitrator;
  14 import lejos.robotics.subsumption.Behavior;
  15 import lejos.utility.Delay;
  16
  17 public class Main {
  18
  19         public static void main(String[] args) {
  20                 LCDPrinter lcdprinter = new LCDPrinter();
  21                 LCDPrinter.print("Starting up");
  22                 lcdprinter.start();
  23                 LCDPrinter.print("Brick...");
  24                 EV3 brick = LocalEV3.get();
  25
  26                 LCDPrinter.print("Audio...");
  27                 Audio audio = brick.getAudio();
  28                 WavPlayer wavplayer = new WavPlayer(audio);
  29                 wavplayer.start();
  30                 WavPlayer.playWav(new File("bootaudio.wav"));
  31
  32                 LCDPrinter.print("Keylistener...");
  33                 brick.getKey("Escape").addKeyListener(new ButtonListener());
  34
  35                 //Get motors
  36                 LCDPrinter.print("Motors...");
  37                 EV3LargeRegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.D);
  38                 EV3LargeRegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.A);
  39                 rightMotor.setSpeed(300);
  40                 leftMotor.setSpeed(300);
  41                 rightMotor.setAcceleration(1000);
  42                 leftMotor.setAcceleration(1000);
  43
  44                 //Get sensors
  45                 LCDPrinter.print("Touch...");
  46                 EV3TouchSensor leftTouch = new EV3TouchSensor(brick.getPort("S1"));
  47                 EV3TouchSensor rightTouch = new EV3TouchSensor(brick.getPort("S4"));
  48                 LCDPrinter.print("Light...");
  49                 NXTLightSensor lightSensor = new NXTLightSensor(brick.getPort("S2"));
  50                 LCDPrinter.print("Ultrasone...");
  51                 EV3UltrasonicSensor ultraSensor = new EV3UltrasonicSensor(brick.getPort("S3"));
  52
  53                 WavPlayer.playWav(new File("bootsystem.wav"));
  54
  55                 //Initialize behaviours
  56                 LCDPrinter.print("Behaviours...");
  57                 Behavior[] behaviorList = new Behavior[] {
  58                                 new WandererBehaviour(leftMotor, rightMotor),
  59                                 new AvoidHighObjectBehaviour(leftMotor, rightMotor, ultraSensor),
  60                                 new AvoidLowObjectBehaviour(leftMotor, rightMotor, leftTouch, rightTouch),
  61                                 new StayInFieldBehaviour(lightSensor, leftMotor, rightMotor),
  62                 };
  63
  64                 WavPlayer.playWav(new File("calibrate.wav"));
  65
  66                 LCDPrinter.print("Arbitrator...");
  67                 Arbitrator arb = new Arbitrator(behaviorList);
  68
  69                 WavPlayer.playWav(new File("takeoff.wav"));
  70                 Delay.msDelay(1850);
  71                 LCDPrinter.print("Takeoff!");
  72                 arb.start();
  73                 lightSensor.close();
  74                 ultraSensor.close();
  75         }
  76 }