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

   1 package nl.ru.des;
   2
   3 import lejos.hardware.ev3.EV3;
   4 import lejos.hardware.ev3.LocalEV3;
   5 import lejos.hardware.lcd.Font;
   6 import lejos.hardware.motor.EV3LargeRegulatedMotor;
   7 import lejos.hardware.port.MotorPort;
   8 import lejos.hardware.sensor.EV3ColorSensor;
   9 import lejos.robotics.subsumption.Arbitrator;
  10 import lejos.robotics.subsumption.Behavior;
  11
  12 public class Main {
  13         public static Arbitrator arbitrator;
  14
  15         public static void main(String[] args) {
  16                 EV3 brick = LocalEV3.get();
  17                 LCDPrinter lcdprinter = new LCDPrinter(brick.getGraphicsLCD(), Font.getSmallFont());
  18                 lcdprinter.start();
  19                 /*
  20                  * Start the slave first. "Socket is 18" is always displayed, we can just ignore this
  21                  */
  22                 ColorMemory mh = new ColorMemory();
  23
  24                 //BTController btController = BTController.getBTMaster("Rover2", mh); // Master
  25                 BTController btController = BTController.getBTSlave(mh); // Slave
  26                 btController.start();
  27                 BTController.SendMessage("Hi");
  28
  29                 LCDPrinter.print("Robots are connected");
  30
  31                 LCDPrinter.print("Starting up systems");
  32
  33
  34                 LCDPrinter.print("Loading keylistener...");
  35                 brick.getKey("Escape").addKeyListener(new ButtonListener());
  36
  37                 LCDPrinter.print("Loading motors...");
  38                 EV3LargeRegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.D);
  39                 EV3LargeRegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.A);
  40                 leftMotor.setSpeed(200);
  41                 rightMotor.setSpeed(200);
  42                 rightMotor.setAcceleration(1000);
  43                 leftMotor.setAcceleration(1000);
  44
  45 //              LCDPrinter.print("Loading touch sensors...");
  46 //              EV3TouchSensor leftTouch = new EV3TouchSensor(brick.getPort("S1"));
  47 //              EV3TouchSensor rightTouch = new EV3TouchSensor(brick.getPort("S4"));
  48                 LCDPrinter.print("Loading color sensor...");
  49                 EV3ColorSensor colorSensor = new EV3ColorSensor(brick.getPort("S2"));
  50                 ColorSensor colorSensorObject = new ColorSensor(colorSensor);
  51
  52 //              LCDPrinter.print("Loading ultrasone sensor...");
  53 //              EV3UltrasonicSensor ultraSensor = new EV3UltrasonicSensor(brick.getPort("S3"));
  54
  55                 LCDPrinter.print("Initializing behaviours...");
  56                 Behavior[] behaviorList = new Behavior[] {
  57                                 new WandererBehaviour(colorSensorObject, leftMotor, rightMotor, mh),
  58                                 new StayInFieldBehaviour(colorSensorObject, leftMotor, rightMotor)
  59                                 //new CommBehaviour(leftMotor, rightMotor)
  60                 };
  61
  62                 LCDPrinter.print("Initializing arbitrator...");
  63                 Main.arbitrator = new Arbitrator(behaviorList);
  64                 Main.arbitrator.start();
  65                 LCDPrinter.print("Takeoff!");
  66                 colorSensor.close();
  67 //              ultraSensor.close();
  68         }
  69 }