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

   1 package nl.ru.des.behaviours;
   2
   3 import lejos.hardware.Button;
   4 import lejos.hardware.motor.EV3LargeRegulatedMotor;
   5 import lejos.robotics.SampleProvider;
   6 import lejos.robotics.subsumption.Behavior;
   7 import nl.ru.des.LCDPrinter;
   8
   9 public class AvoidHighObjectBehaviour extends ReactiveBehaviour implements Behavior {
  10         private static final long TURNTIME = 250;
  11
  12         private EV3LargeRegulatedMotor leftMotor;
  13         private EV3LargeRegulatedMotor rightMotor;
  14         private float limit;
  15
  16         public AvoidHighObjectBehaviour(EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor,
  17                         SampleProvider ultraSone) {
  18                 super(ultraSone);
  19                 this.leftMotor = leftMotor;
  20                 this.rightMotor = rightMotor;
  21                 LCDPrinter.print("Place object in turn radius and press a key");
  22                 Button.waitForAnyPress();
  23                 fetchSample();
  24                 limit = samples[0];
  25         }
  26
  27         @Override
  28         public boolean takeControl() {
  29                 fetchSample();
  30                 return samples[0] < limit;
  31         }
  32
  33         @Override
  34         public void action() {
  35                 super.action();
  36                 rightMotor.backward();
  37                 leftMotor.forward();
  38                 long time = System.currentTimeMillis();
  39                 while (!suppressed && System.currentTimeMillis() - time > TURNTIME) {
  40                         Thread.yield();
  41                 }
  42                 leftMotor.stop(true);
  43                 rightMotor.stop(true);
  44         }
  45 }