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

   1 package nl.ru.des.behaviours;
   2
   3 import java.util.Random;
   4
   5 import lejos.hardware.motor.EV3LargeRegulatedMotor;
   6 import lejos.robotics.Color;
   7 import lejos.robotics.SampleProvider;
   8 import lejos.robotics.subsumption.Behavior;
   9
  10 public class StayInFieldBehaviour extends ReactiveBehaviour implements Behavior {
  11         public static final long BACKWARDSTIME = 250;
  12         public static final long TURNTIME = 500;
  13
  14         private EV3LargeRegulatedMotor leftMotor, rightMotor;
  15         private Random random;
  16
  17         public StayInFieldBehaviour(SampleProvider color, EV3LargeRegulatedMotor leftMotor,
  18                         EV3LargeRegulatedMotor rightMotor) {
  19                 super(color);
  20                 this.leftMotor = leftMotor;
  21                 this.rightMotor = rightMotor;
  22                 random = new Random();
  23         }
  24
  25         @Override
  26         public boolean takeControl() {
  27                 super.fetchSample();
  28                 return samples[0] == Color.BLACK;
  29         }
  30
  31         @Override
  32         public void action() {
  33                 super.action();
  34                 int leftacc = leftMotor.getAcceleration();
  35                 int rightacc = rightMotor.getAcceleration();
  36                 leftMotor.setAcceleration(10000);
  37                 rightMotor.setAcceleration(10000);
  38                 leftMotor.backward();
  39                 rightMotor.backward();
  40                 long time = System.currentTimeMillis();
  41                 while (!suppressed && System.currentTimeMillis() - time < BACKWARDSTIME) {
  42                         Thread.yield();
  43                 }
  44
  45                 if(random.nextBoolean()){
  46                         leftMotor.backward();
  47                         rightMotor.forward();
  48                 } else {
  49                         rightMotor.backward();
  50                         leftMotor.forward();
  51                 }
  52                 time = System.currentTimeMillis();
  53                 while (!suppressed && System.currentTimeMillis() - time < TURNTIME) {
  54                         Thread.yield();
  55                 }
  56                 leftMotor.stop(true);
  57                 rightMotor.stop(true);
  58                 leftMotor.setAcceleration(leftacc);
  59                 rightMotor.setAcceleration(rightacc);
  60         }
  61 }