package nl.ru.des;
-import lejos.hardware.motor.EV3LargeRegulatedMotor;
+import lejos.robotics.RegulatedMotor;
import lejos.robotics.subsumption.Behavior;
import nl.ru.des.sensors.SensorCollector;
public abstract class BasicBehaviour implements Behavior{
protected boolean suppressed;
- protected EV3LargeRegulatedMotor leftMotor, rightMotor, measMotor;
+ protected boolean finished;
+ protected RegulatedMotor leftMotor, rightMotor, measMotor;
protected SensorCollector sensors;
protected long time;
- public BasicBehaviour(SensorCollector sensors, EV3LargeRegulatedMotor leftMotor,
- EV3LargeRegulatedMotor rightMotor, EV3LargeRegulatedMotor measMotor){
+ public BasicBehaviour(SensorCollector sensors, RegulatedMotor leftMotor,
+ RegulatedMotor rightMotor, RegulatedMotor measMotor){
this.leftMotor = leftMotor;
this.rightMotor = rightMotor;
this.measMotor = measMotor;
this.sensors = sensors;
+ suppressed = false;
+ finished = true;
}
-
+
protected void reset(){
+ finished = true;
rightMotor.setSpeed(Constants.speed);
rightMotor.setAcceleration(Constants.acceleration);
leftMotor.setSpeed(Constants.speed);
leftMotor.setAcceleration(Constants.acceleration);
rightMotor.stop(true);
leftMotor.stop(true);
+ measMotor.stop(true);
}
- protected void rockMeasure(){
+ protected void measureLake(){
+ long time = System.currentTimeMillis();
+ rightMotor.backward();
+ leftMotor.backward();
+ while(System.currentTimeMillis()-time < 250){
+ Thread.yield();
+ }
+
+ rightMotor.stop(true);
+ leftMotor.stop(true);
+ rightMotor.setSpeed(25);
+ leftMotor.setSpeed(25);
+ if(sensors.leftLight() && !sensors.rightLight()){
+ leftTurn(15);
+ } else if (sensors.rightLight() && !sensors.leftLight()){
+ rightTurn(15);
+ }
+
+ rightMotor.stop(true);
+ leftMotor.stop(true);
+
+ measMotor.backward();
+ while(!suppressed && !measMotor.isStalled()){
+ Thread.yield();
+ }
+ measMotor.forward();
+ while(!suppressed && !measMotor.isStalled()){
+ Thread.yield();
+ }
+ measMotor.stop(true);
+ turnRandom(30, 45);
}
- protected void lakeMeasure(){
+ protected void measureRock(){
+ long time = System.currentTimeMillis();
+ rightMotor.forward();
+ leftMotor.forward();
+ while(System.currentTimeMillis()-time<1500){
+ Thread.yield();
+ }
+ rightMotor.stop(true);
+ leftMotor.stop(true);
+
+ measMotor.backward();
+ while(!suppressed && !measMotor.isStalled()){
+ Thread.yield();
+ }
+ measMotor.forward();
+ while(!suppressed && !measMotor.isStalled()){
+ Thread.yield();
+ }
+ measMotor.stop(true);
+
+ turnRandom(30, 45);
+ }
+
+ protected void turnRandom(int from, int to){
+ int degrees = Marster.random.nextInt(to-from)+from;
+ if(Marster.random.nextBoolean()){
+ rightTurn(degrees);
+ } else {
+ leftTurn(degrees);
+ }
+ }
+
+ protected void rightTurn(int angle){
+ rightMotor.stop(true);
+ leftMotor.stop();
+ sensors.resetGyro();
+ rightMotor.backward();
+ leftMotor.forward();
+ while(!suppressed && Math.abs(sensors.gyro()) < angle){
+ Thread.yield();
+ }
+ rightMotor.stop(true);
+ leftMotor.stop(true);
+ LCDPrinter.print(Float.toString(sensors.gyro()));
+ }
+
+ protected void leftTurn(int angle){
+ rightMotor.stop(true);
+ leftMotor.stop();
+ sensors.resetGyro();
+ leftMotor.backward();
+ rightMotor.forward();
+ while(!suppressed && Math.abs(sensors.gyro()) < angle){
+ Thread.yield();
+ }
+ rightMotor.stop(true);
+ leftMotor.stop(true);
+ LCDPrinter.print(Float.toString(sensors.gyro()));
}
@Override
public void action() {
suppressed = false;
+ finished = false;
+ rightMotor.setSpeed(Constants.speed);
+ rightMotor.setAcceleration(Constants.acceleration);
+ leftMotor.setSpeed(Constants.speed);
+ leftMotor.setAcceleration(Constants.acceleration);
+ rightMotor.stop(true);
+ leftMotor.stop(true);
}
@Override
public void suppress() {
suppressed = true;
+ finished = true;
+ rightMotor.setSpeed(Constants.speed);
+ rightMotor.setAcceleration(Constants.acceleration);
+ leftMotor.setSpeed(Constants.speed);
+ leftMotor.setAcceleration(Constants.acceleration);
+ rightMotor.stop(true);
+ leftMotor.stop(true);
}
- @Override
- public boolean takeControl() {
+ @Override public boolean takeControl(){
return true;
}
}