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

   1 package nl.ru.des.behaviours;
   2
   3 import lejos.hardware.motor.EV3LargeRegulatedMotor;
   4 import lejos.robotics.SampleProvider;
   5 import lejos.robotics.subsumption.Behavior;
   6 import nl.ru.des.bluetooth.ColorMemory;
   7
   8 public class WandererBehaviour extends ReactiveBehaviour implements Behavior {
   9         private EV3LargeRegulatedMotor leftMotor, rightMotor;
  10         private ColorMemory cm;
  11
  12         public WandererBehaviour(SampleProvider color, EV3LargeRegulatedMotor leftMotor,
  13                         EV3LargeRegulatedMotor rightMotor, ColorMemory cm) {
  14                 super(color);
  15                 this.leftMotor = leftMotor;
  16                 this.rightMotor = rightMotor;
  17                 this.cm = cm;
  18         }
  19
  20         @Override
  21         public boolean takeControl() {
  22                 return !cm.finished();
  23         }
  24
  25         @Override
  26         public void action() {
  27                 super.action();
  28                 leftMotor.forward();
  29                 rightMotor.forward();
  30                 while (!suppressed) {
  31                         super.fetchSample();
  32                         if (ColorMemory.COLORSTOFIND.contains((int)samples[0])) {
  33                                 cm.addColor((int)samples[0]);
  34                         }
  35                         Thread.yield();
  36                 }
  37                 leftMotor.stop(true);
  38                 rightMotor.stop(true);
  39         }
  40 }