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
  18                 //BTMemory.getBTMemory(true, null);
  19                 BTMemory.getBTMemory(false, "Rover1");
  20                 LCDPrinter lcdprinter = new LCDPrinter(brick.getGraphicsLCD(), Font.getSmallFont());
  21                 LCDPrinter.print("Starting up systems");
  22                 lcdprinter.start();
  23
  24                 LCDPrinter.print("Loading keylistener...");
  25                 brick.getKey("Escape").addKeyListener(new ButtonListener());
  26
  27                 LCDPrinter.print("Loading motors...");
  28                 EV3LargeRegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.D);
  29                 EV3LargeRegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.A);
  30                 leftMotor.setSpeed(200);
  31                 rightMotor.setSpeed(200);
  32                 rightMotor.setAcceleration(1000);
  33                 leftMotor.setAcceleration(1000);
  34
  35 //              LCDPrinter.print("Loading touch sensors...");
  36 //              EV3TouchSensor leftTouch = new EV3TouchSensor(brick.getPort("S1"));
  37 //              EV3TouchSensor rightTouch = new EV3TouchSensor(brick.getPort("S4"));
  38                 LCDPrinter.print("Loading color sensor...");
  39                 EV3ColorSensor colorSensor = new EV3ColorSensor(brick.getPort("S2"));
  40                 ColorSensor colorSensorObject = new ColorSensor(colorSensor);
  41
  42 //              LCDPrinter.print("Loading ultrasone sensor...");
  43 //              EV3UltrasonicSensor ultraSensor = new EV3UltrasonicSensor(brick.getPort("S3"));
  44
  45                 LCDPrinter.print("Initializing behaviours...");
  46                 Behavior[] behaviorList = new Behavior[] {
  47                                 new WandererBehaviour(colorSensorObject, leftMotor, rightMotor),
  48                                 new StayInFieldBehaviour(colorSensorObject, leftMotor, rightMotor)
  49                 };
  50
  51
  52                 LCDPrinter.print("Initializing arbitrator...");
  53                 Main.arbitrator = new Arbitrator(behaviorList);
  54                 Main.arbitrator.start();
  55                 LCDPrinter.print("Takeoff!");
  56                 colorSensor.close();
  57 //              ultraSensor.close();
  58         }
  59 }