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

   1 package nl.ru.des;
   2
   3 import lejos.hardware.Sound;
   4 import lejos.hardware.motor.EV3LargeRegulatedMotor;
   5 import lejos.robotics.subsumption.Behavior;
   6
   7 public class WandererBehaviour implements Behavior {
   8         private EV3LargeRegulatedMotor leftMotor, rightMotor;
   9         private ColorSensor colorSensor;
  10         private boolean suppressed;
  11
  12         public WandererBehaviour(ColorSensor colorSensor, EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor) {
  13                 this.leftMotor = leftMotor;
  14                 this.rightMotor = rightMotor;
  15                 this.colorSensor = colorSensor;
  16         }
  17
  18         @Override
  19         public boolean takeControl() {
  20                 return true;
  21         }
  22
  23         @Override
  24         public void action() {
  25                 suppressed = false;
  26                 leftMotor.setSpeed(300);
  27                 rightMotor.setSpeed(300);
  28                 leftMotor.forward();
  29                 rightMotor.forward();
  30                 while(!suppressed){
  31                         String current = colorSensor.getCurrentColor();
  32                         if(current == "Yellow" || current == "Blue" || current == "Red"){
  33                                 Sound.beep();
  34                         }
  35                         Thread.yield();
  36                 }
  37                 leftMotor.stop(true);
  38                 rightMotor.stop(true);
  39         }
  40
  41         @Override
  42         public void suppress() {
  43                 suppressed = true;
  44         }
  45
  46 }