mart/ev3/ex2/nl/ru/des/MarsRover.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.SampleProvider;
  14 import lejos.robotics.filter.ConcatenationFilter;
  15 import lejos.robotics.filter.MeanFilter;
  16 import lejos.robotics.subsumption.Arbitrator;
  17 import lejos.robotics.subsumption.Behavior;
  18 import nl.ru.des.behaviours.AvoidHighObjectBehaviour;
  19 import nl.ru.des.behaviours.AvoidLowObjectBehaviour;
  20 import nl.ru.des.behaviours.ShutdownBehaviour;
  21 import nl.ru.des.behaviours.StayInFieldBehaviour;
  22 import nl.ru.des.behaviours.WandererBehaviour;
  23 import nl.ru.des.bluetooth.BTController;
  24 import nl.ru.des.bluetooth.ColorMemory;
  25
  26 public class MarsRover {
  27         public static final float SAMPLERATE = 100;
  28
  29         @SuppressWarnings("resource")
  30         public static void main(String[] args) {
  31                 EV3 brick = LocalEV3.get();
  32                 TextLCD tlcd = brick.getTextLCD(Font.getSmallFont());
  33                 LCDPrinter.startLCDPrinter(tlcd);
  34                 System.setOut(LCDPrinter.getPrefixedPrintstream("out: ", tlcd));
  35                 System.setErr(LCDPrinter.getPrefixedPrintstream("err: ", tlcd));
  36
  37                 ColorMemory mh = new ColorMemory();
  38
  39                 LCDPrinter.print("Loading keylistener...");
  40                 brick.getKey("Escape").addKeyListener(new ButtonListener());
  41
  42                 BTController btController;
  43                 LCDPrinter.print("Trying to pair");
  44                 //btController = BTController.getBTMaster("Rover1", mh); // Master
  45                 btController = BTController.getBTSlave(mh); // Slave
  46                 btController.start();
  47
  48                 LCDPrinter.print("Robots are connected");
  49
  50                 LCDPrinter.print("Loading motors...");
  51                 EV3LargeRegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.D);
  52                 EV3LargeRegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.A);
  53                 leftMotor.setSpeed(300);
  54                 rightMotor.setSpeed(300);
  55                 rightMotor.setAcceleration(1000);
  56                 leftMotor.setAcceleration(1000);
  57
  58                 LCDPrinter.print("Loading touch sensors...");
  59                 SampleProvider touch = new ConcatenationFilter(
  60                                                 new EV3TouchSensor(brick.getPort("S1")).getTouchMode(),
  61                                                 new EV3TouchSensor(brick.getPort("S4")).getTouchMode());
  62                 LCDPrinter.print("Loading color sensor...");
  63                 SampleProvider color = new EV3ColorSensor(brick.getPort("S2")).getColorIDMode();
  64
  65                 LCDPrinter.print("Loading ultrasone sensor...");
  66                 SampleProvider ultraSonic = new MeanFilter(new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode(), 3);
  67
  68                 LCDPrinter.print("Initializing behaviours...");
  69                 Behavior[] behaviorList = new Behavior[] {
  70                                 new WandererBehaviour(color, leftMotor, rightMotor, mh),
  71                                 new StayInFieldBehaviour(color, leftMotor, rightMotor),
  72                                 new AvoidLowObjectBehaviour(leftMotor, rightMotor, touch),
  73                                 new AvoidHighObjectBehaviour(leftMotor, rightMotor, ultraSonic),
  74                                 new ShutdownBehaviour(mh)
  75                 };
  76
  77                 LCDPrinter.print("Initializing arbitrator...");
  78                 Arbitrator arbitrator = new Arbitrator(behaviorList);
  79                 LCDPrinter.print("Press any button for takeoff!");
  80                 Button.waitForAnyPress();
  81                 arbitrator.start();
  82                 LCDPrinter.print("Finish");
  83         }
  84 }