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

   1 package nl.ru.des.behaviours;
   2
   3 import lejos.hardware.motor.EV3LargeRegulatedMotor;
   4 import lejos.robotics.Color;
   5 import lejos.robotics.subsumption.Behavior;
   6 import nl.ru.des.sensors.ColorSensor;
   7
   8 public class StayInFieldBehaviour implements Behavior {
   9         public static final long BACKWARDSTIME = 250;
  10         public static final long TURNTIME = 250;
  11
  12         private ColorSensor colorSensor;
  13         private EV3LargeRegulatedMotor leftMotor, rightMotor;
  14         private boolean suppressed;
  15
  16         public StayInFieldBehaviour(ColorSensor colorSensor, EV3LargeRegulatedMotor leftMotor,
  17                         EV3LargeRegulatedMotor rightMotor) {
  18                 this.colorSensor = colorSensor;
  19                 this.leftMotor = leftMotor;
  20                 this.rightMotor = rightMotor;
  21         }
  22
  23         @Override
  24         public boolean takeControl() {
  25                 return colorSensor.getCurrentColor() == Color.BLACK;
  26         }
  27
  28         @Override
  29         public void action() {
  30                 suppressed = false;
  31                 int leftacc = leftMotor.getAcceleration();
  32                 int rightacc = rightMotor.getAcceleration();
  33                 leftMotor.setAcceleration(10000);
  34                 rightMotor.setAcceleration(10000);
  35                 leftMotor.backward();
  36                 rightMotor.backward();
  37                 long time = System.currentTimeMillis();
  38                 while (!suppressed && System.currentTimeMillis() - time > BACKWARDSTIME) {
  39                         Thread.yield();
  40                 }
  41
  42                 leftMotor.forward();
  43                 rightMotor.backward();
  44                 time = System.currentTimeMillis();
  45                 while (!suppressed && System.currentTimeMillis() - time > TURNTIME) {
  46                         Thread.yield();
  47                 }
  48                 leftMotor.stop(true);
  49                 rightMotor.stop(true);
  50                 leftMotor.setAcceleration(leftacc);
  51                 rightMotor.setAcceleration(rightacc);
  52         }
  53
  54         @Override
  55         public void suppress() {
  56                 suppressed = true;
  57         }
  58 }