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.SampleProvider;
   6 import lejos.robotics.subsumption.Behavior;
   7
   8 public class StayInFieldBehaviour extends ReactiveBehaviour implements Behavior {
   9         public static final long BACKWARDSTIME = 250;
  10         public static final long TURNTIME = 250;
  11
  12         private EV3LargeRegulatedMotor leftMotor, rightMotor;
  13
  14         public StayInFieldBehaviour(SampleProvider color, EV3LargeRegulatedMotor leftMotor,
  15                         EV3LargeRegulatedMotor rightMotor) {
  16                 super(color);
  17                 this.leftMotor = leftMotor;
  18                 this.rightMotor = rightMotor;
  19         }
  20
  21         @Override
  22         public boolean takeControl() {
  23                 super.fetchSample();
  24                 return samples[0] == Color.BLACK;
  25         }
  26
  27         @Override
  28         public void action() {
  29                 super.action();
  30                 int leftacc = leftMotor.getAcceleration();
  31                 int rightacc = rightMotor.getAcceleration();
  32                 leftMotor.setAcceleration(10000);
  33                 rightMotor.setAcceleration(10000);
  34                 leftMotor.backward();
  35                 rightMotor.backward();
  36                 long time = System.currentTimeMillis();
  37                 while (!suppressed && System.currentTimeMillis() - time > BACKWARDSTIME) {
  38                         Thread.yield();
  39                 }
  40
  41                 leftMotor.forward();
  42                 rightMotor.backward();
  43                 time = System.currentTimeMillis();
  44                 while (!suppressed && System.currentTimeMillis() - time > TURNTIME) {
  45                         Thread.yield();
  46                 }
  47                 leftMotor.stop(true);
  48                 rightMotor.stop(true);
  49                 leftMotor.setAcceleration(leftacc);
  50                 rightMotor.setAcceleration(rightacc);
  51         }
  52 }