mart/ev3/ex2/nl/ru/des/Main.java

   1 package nl.ru.des;
   2
   3 import lejos.hardware.Button;
   4 import lejos.hardware.ev3.EV3;
   5 import lejos.hardware.ev3.LocalEV3;
   6 import lejos.hardware.lcd.Font;
   7 import lejos.hardware.lcd.TextLCD;
   8 import lejos.hardware.motor.EV3LargeRegulatedMotor;
   9 import lejos.hardware.port.MotorPort;
  10 import lejos.hardware.sensor.EV3ColorSensor;
  11 import lejos.hardware.sensor.EV3TouchSensor;
  12 import lejos.hardware.sensor.EV3UltrasonicSensor;
  13 import lejos.robotics.subsumption.Arbitrator;
  14 import lejos.robotics.subsumption.Behavior;
  15 import nl.ru.des.behaviours.AvoidHighObjectBehaviour;
  16 import nl.ru.des.behaviours.AvoidLowObjectBehaviour;
  17 import nl.ru.des.behaviours.ShutdownBehaviour;
  18 import nl.ru.des.behaviours.StayInFieldBehaviour;
  19 import nl.ru.des.behaviours.WandererBehaviour;
  20 import nl.ru.des.bluetooth.BTController;
  21 import nl.ru.des.bluetooth.ColorMemory;
  22 import nl.ru.des.sensors.ColorSensor;
  23 import nl.ru.des.sensors.TouchSensor;
  24 import nl.ru.des.sensors.UltraSoneSensor;
  25
  26 public class Main {
  27         public static Arbitrator arbitrator;
  28
  29         public static void main(String[] args) {
  30                 EV3 brick = LocalEV3.get();
  31                 TextLCD tlcd = brick.getTextLCD(Font.getSmallFont());
  32                 LCDPrinter.startLCDPrinter(tlcd);
  33                 System.setOut(LCDPrinter.getPrefixedPrintstream("out: ", tlcd));
  34                 System.setErr(LCDPrinter.getPrefixedPrintstream("err: ", tlcd));
  35
  36                 ColorMemory mh = new ColorMemory();
  37
  38                 LCDPrinter.print("Loading keylistener...");
  39                 brick.getKey("Escape").addKeyListener(new ButtonListener());
  40
  41                 BTController btController;
  42                 LCDPrinter.print("Trying to pair");
  43                 btController = BTController.getBTMaster("Rover1", mh); // Master
  44                 //btController = BTController.getBTSlave(mh); // Slave
  45                 btController.start();
  46
  47                 LCDPrinter.print("Robots are connected");
  48
  49                 LCDPrinter.print("Loading motors...");
  50                 EV3LargeRegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.D);
  51                 EV3LargeRegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.A);
  52                 leftMotor.setSpeed(200);
  53                 rightMotor.setSpeed(200);
  54                 rightMotor.setAcceleration(1000);
  55                 leftMotor.setAcceleration(1000);
  56
  57                 LCDPrinter.print("Loading touch sensors...");
  58                 TouchSensor leftTouchSensor = new TouchSensor(new EV3TouchSensor(brick.getPort("S1")));
  59                 TouchSensor rightTouchSensor = new TouchSensor(new EV3TouchSensor(brick.getPort("S4")));
  60                 LCDPrinter.print("Loading color sensor...");
  61                 ColorSensor colorSensorObject = new ColorSensor(new EV3ColorSensor(brick.getPort("S2")));
  62
  63                 LCDPrinter.print("Loading ultrasone sensor...");
  64                 UltraSoneSensor ultraSoneSensor = new UltraSoneSensor(new EV3UltrasonicSensor(brick.getPort("S3")));
  65
  66                 LCDPrinter.print("Initializing behaviours...");
  67                 Behavior[] behaviorList = new Behavior[] {
  68                                 new WandererBehaviour(colorSensorObject, leftMotor, rightMotor, mh),
  69                                 new StayInFieldBehaviour(colorSensorObject, leftMotor, rightMotor),
  70                                 new AvoidLowObjectBehaviour(leftMotor, rightMotor, leftTouchSensor, rightTouchSensor),
  71                                 new AvoidHighObjectBehaviour(leftMotor, rightMotor, ultraSoneSensor),
  72                                 new ShutdownBehaviour(mh)
  73                 };
  74
  75                 LCDPrinter.print("Initializing arbitrator...");
  76                 Main.arbitrator = new Arbitrator(behaviorList);
  77                 LCDPrinter.print("Press any button for takeoff!");
  78                 Button.waitForAnyPress();
  79                 Main.arbitrator.start();
  80                 LCDPrinter.print("Finish");
  81         }
  82 }