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

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