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

   1 package nl.ru.des;
   2
   3 import lejos.hardware.motor.EV3LargeRegulatedMotor;
   4 import lejos.robotics.subsumption.Behavior;
   5
   6 public class StayInFieldBehaviour implements Behavior {
   7         public static final long BACKWARDSTIME = 250;
   8         public static final long TURNTIME = 250;
   9
  10         private ColorSensor colorSensor;
  11         private EV3LargeRegulatedMotor leftMotor, rightMotor;
  12         private boolean suppressed;
  13
  14         public StayInFieldBehaviour(ColorSensor colorSensor, EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor) {
  15                 this.colorSensor = colorSensor;
  16                 this.leftMotor = leftMotor;
  17                 this.rightMotor = rightMotor;
  18         }
  19
  20         @Override
  21         public boolean takeControl() {
  22                 return colorSensor.getCurrentColor() == "Black";
  23         }
  24
  25         @Override
  26         public void action() {
  27                 suppressed = false;
  28                 int leftacc = leftMotor.getAcceleration();
  29                 int rightacc = rightMotor.getAcceleration();
  30                 leftMotor.setAcceleration(10000);
  31                 rightMotor.setAcceleration(10000);
  32                 leftMotor.backward();
  33                 rightMotor.backward();
  34                 long time = System.currentTimeMillis();
  35                 while(!suppressed && System.currentTimeMillis()-time > BACKWARDSTIME){
  36                         Thread.yield();
  37                 }
  38
  39                 leftMotor.forward();
  40                 rightMotor.backward();
  41                 time = System.currentTimeMillis();
  42                 while(!suppressed && System.currentTimeMillis()-time > TURNTIME){
  43                         Thread.yield();
  44                 }
  45                 leftMotor.stop(true);
  46                 rightMotor.stop(true);
  47                 leftMotor.setAcceleration(leftacc);
  48                 rightMotor.setAcceleration(rightacc);
  49         }
  50
  51         @Override
  52         public void suppress() {
  53                 suppressed = true;
  54         }
  55 }