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         private ColorMemory cm;
  12
  13         public WandererBehaviour(ColorSensor colorSensor, EV3LargeRegulatedMotor leftMotor,
  14                         EV3LargeRegulatedMotor rightMotor, ColorMemory cm) {
  15                 this.leftMotor = leftMotor;
  16                 this.rightMotor = rightMotor;
  17                 this.colorSensor = colorSensor;
  18                 this.cm = cm;
  19         }
  20
  21         @Override
  22         public boolean takeControl() {
  23                 return !cm.finished();
  24         }
  25
  26         @Override
  27         public void action() {
  28                 suppressed = false;
  29                 leftMotor.setSpeed(300);
  30                 rightMotor.setSpeed(300);
  31                 leftMotor.forward();
  32                 rightMotor.forward();
  33                 while (!suppressed) {
  34                         String current = colorSensor.getCurrentColor();
  35                         if (current == "Yellow" || current == "Blue" || current == "Red") {
  36                                 Sound.beep();
  37                                 BTController.SendMessage(current);
  38                         }
  39                         Thread.yield();
  40                 }
  41                 leftMotor.stop(true);
  42                 rightMotor.stop(true);
  43         }
  44
  45         @Override
  46         public void suppress() {
  47                 suppressed = true;
  48         }
  49
  50 }