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

   1 package nl.ru.des;
   2
   3 import lejos.hardware.motor.EV3LargeRegulatedMotor;
   4 import lejos.robotics.subsumption.Behavior;
   5
   6 public class WandererBehaviour implements Behavior {
   7         private EV3LargeRegulatedMotor leftMotor, rightMotor;
   8         private long play = 0;
   9
  10         public WandererBehaviour(EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor){
  11                 this.leftMotor = leftMotor;
  12                 this.rightMotor = rightMotor;
  13         }
  14
  15         @Override
  16         public boolean takeControl() {
  17                 return true;
  18         }
  19
  20         @Override
  21         public void action() {
  22                 if(System.currentTimeMillis() - play > 30000){
  23                         WavPlayer.playWav("rick.wav");
  24                         play = System.currentTimeMillis();
  25                 }
  26                 leftMotor.forward();
  27                 rightMotor.forward();
  28         }
  29
  30         @Override
  31         public void suppress() {
  32         }
  33 }