mart/ev3/ex2/nl/ru/des/behaviours/AvoidHighObjectBehaviour.java

   1 package nl.ru.des.behaviours;
   2
   3 import java.util.Random;
   4
   5 import lejos.hardware.motor.EV3LargeRegulatedMotor;
   6 import lejos.robotics.SampleProvider;
   7 import lejos.robotics.subsumption.Behavior;
   8 import lejos.utility.Delay;
   9
  10 public class AvoidHighObjectBehaviour extends ReactiveBehaviour implements Behavior {
  11         private static final long TURNTIME = 250;
  12
  13         private EV3LargeRegulatedMotor leftMotor;
  14         private EV3LargeRegulatedMotor rightMotor;
  15         private float limit;
  16         private Random random;
  17
  18         public AvoidHighObjectBehaviour(EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor,
  19                         SampleProvider ultraSone) {
  20                 super(ultraSone);
  21                 this.leftMotor = leftMotor;
  22                 this.rightMotor = rightMotor;
  23                 Delay.msDelay(500);
  24                 fetchSample();
  25                 limit = samples[0];
  26                 random = new Random();
  27         }
  28
  29         @Override
  30         public boolean takeControl() {
  31                 fetchSample();
  32                 return samples[0] < limit;
  33         }
  34
  35         @Override
  36         public void action() {
  37                 super.action();
  38                 int leftacc = leftMotor.getAcceleration();
  39                 int rightacc = rightMotor.getAcceleration();
  40                 leftMotor.setAcceleration(10000);
  41                 rightMotor.setAcceleration(10000);
  42                 if(random.nextBoolean()){
  43                         leftMotor.backward();
  44                         rightMotor.forward();
  45                 } else {
  46                         rightMotor.backward();
  47                         leftMotor.forward();
  48                 }
  49                 long time = System.currentTimeMillis();
  50                 while (!suppressed && System.currentTimeMillis() - time < TURNTIME) {
  51                         Thread.yield();
  52                 }
  53                 leftMotor.stop(true);
  54                 rightMotor.stop(true);
  55                 leftMotor.setAcceleration(leftacc);
  56                 rightMotor.setAcceleration(rightacc);
  57         }
  58 }