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

   1 package nl.ru.des.behaviours;
   2
   3 import lejos.hardware.Sound;
   4 import lejos.hardware.motor.EV3LargeRegulatedMotor;
   5 import lejos.robotics.Color;
   6 import lejos.robotics.subsumption.Behavior;
   7 import nl.ru.des.bluetooth.ColorMemory;
   8 import nl.ru.des.sensors.ColorSensor;
   9
  10 public class WandererBehaviour implements Behavior {
  11         private EV3LargeRegulatedMotor leftMotor, rightMotor;
  12         private ColorSensor colorSensor;
  13         private boolean suppressed;
  14         private ColorMemory cm;
  15
  16         public WandererBehaviour(ColorSensor colorSensor, EV3LargeRegulatedMotor leftMotor,
  17                         EV3LargeRegulatedMotor rightMotor, ColorMemory cm) {
  18                 this.leftMotor = leftMotor;
  19                 this.rightMotor = rightMotor;
  20                 this.colorSensor = colorSensor;
  21                 this.cm = cm;
  22         }
  23
  24         @Override
  25         public boolean takeControl() {
  26                 return !cm.finished();
  27         }
  28
  29         @Override
  30         public void action() {
  31                 suppressed = false;
  32                 leftMotor.setSpeed(300);
  33                 rightMotor.setSpeed(300);
  34                 leftMotor.forward();
  35                 rightMotor.forward();
  36                 while (!suppressed) {
  37                         int current = colorSensor.getCurrentColor();
  38                         if (current == Color.YELLOW || current == Color.BLUE || current == Color.RED) {
  39                                 Sound.beep();
  40                                 cm.addColor(current);
  41                         }
  42                         Thread.yield();
  43                 }
  44                 leftMotor.stop(true);
  45                 rightMotor.stop(true);
  46         }
  47
  48         @Override
  49         public void suppress() {
  50                 suppressed = true;
  51         }
  52 }