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

   1 package nl.ru.des.behaviours;
   2
   3 import lejos.hardware.motor.EV3LargeRegulatedMotor;
   4 import lejos.robotics.subsumption.Behavior;
   5 import nl.ru.des.sensors.UltraSoneSensor;
   6
   7 public class AvoidHighObjectBehaviour implements Behavior{
   8         private static final long TURNTIME = 250;
   9
  10         private UltraSoneSensor ultraSone;
  11         private EV3LargeRegulatedMotor leftMotor;
  12         private EV3LargeRegulatedMotor rightMotor;
  13         private boolean suppressed;
  14
  15         public AvoidHighObjectBehaviour(EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor,
  16                         UltraSoneSensor ultraSoneSensor) {
  17                 ultraSone = ultraSoneSensor;
  18                 this.leftMotor = leftMotor;
  19                 this.rightMotor = rightMotor;
  20         }
  21
  22         @Override
  23         public boolean takeControl() {
  24                 return ultraSone.getCurrentStatus();
  25         }
  26
  27         @Override
  28         public void action() {
  29                 suppressed = false;
  30                 rightMotor.backward();
  31                 leftMotor.forward();
  32                 long time = System.currentTimeMillis();
  33                 while (!suppressed && System.currentTimeMillis() - time > TURNTIME) {
  34                         Thread.yield();
  35                 }
  36                 leftMotor.stop(true);
  37                 rightMotor.stop(true);
  38         }
  39
  40         @Override
  41         public void suppress() {
  42                 suppressed = true;
  43         }
  44 }