mart/ev3/ex2/nl/ru/des/behaviours/AvoidLowObjectBehaviour.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.TouchSensor;
   6
   7 public class AvoidLowObjectBehaviour implements Behavior {
   8         private static final long BACKWARDSTIME = 250;
   9         private static final long TURNTIME = 250;
  10         private TouchSensor rightTouch, leftTouch;
  11         private boolean avoidDirection;
  12         private boolean suppressed;
  13         private EV3LargeRegulatedMotor leftMotor, rightMotor;
  14
  15         public AvoidLowObjectBehaviour(EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor,
  16                         TouchSensor leftTouchSensor, TouchSensor rightTouchSensor) {
  17                 rightTouch = rightTouchSensor;
  18                 leftTouch = leftTouchSensor;
  19                 this.leftMotor = leftMotor;
  20                 this.rightMotor = rightMotor;
  21         }
  22
  23         @Override
  24         public boolean takeControl() {
  25                 if(leftTouch.getCurrentStatus()){
  26                         avoidDirection = false;
  27                         return true;
  28                 }
  29                 if(rightTouch.getCurrentStatus()){
  30                         avoidDirection = true;
  31                         return true;
  32                 }
  33                 return false;
  34         }
  35
  36         @Override
  37         public void action() {
  38                 suppressed = false;
  39                 int leftacc = leftMotor.getAcceleration();
  40                 int rightacc = rightMotor.getAcceleration();
  41                 leftMotor.setAcceleration(10000);
  42                 rightMotor.setAcceleration(10000);
  43                 leftMotor.backward();
  44                 rightMotor.backward();
  45                 long time = System.currentTimeMillis();
  46                 while (!suppressed && System.currentTimeMillis() - time > BACKWARDSTIME) {
  47                         Thread.yield();
  48                 }
  49
  50                 if(avoidDirection){
  51                         leftMotor.backward();
  52                         rightMotor.forward();
  53                 } else {
  54                         leftMotor.forward();
  55                         rightMotor.backward();
  56                 }
  57                 time = System.currentTimeMillis();
  58                 while (!suppressed && System.currentTimeMillis() - time > TURNTIME) {
  59                         Thread.yield();
  60                 }
  61                 leftMotor.stop(true);
  62                 leftMotor.stop(true);
  63                 leftMotor.setAcceleration(leftacc);
  64                 leftMotor.setAcceleration(rightacc);
  65         }
  66
  67         @Override
  68         public void suppress() {
  69                 suppressed = true;
  70         }
  71 }