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 EV3LargeRegulatedMotor leftMotor, rightMotor;
+ protected boolean suppressed;
+ protected boolean finished;
+ protected RegulatedMotor leftMotor, rightMotor, measMotor;
+ protected SensorCollector sensors;
+ protected long time;
- public BasicBehaviour(nl.ru.des.Sensors sensors, EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor){
+ 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 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(10);
+ } else if (sensors.rightLight() && !sensors.leftLight()){
+ rightTurn(10);
+ }
+
+ rightMotor.stop(true);
+ leftMotor.stop(true);
+
+ measMotor.rotate(-100, true);
+ while(!suppressed && !measMotor.isStalled() && measMotor.isMoving()){
+ Thread.yield();
+ }
+ measMotor.rotate(100, true);
+ while(!suppressed && !measMotor.isStalled() && measMotor.isMoving()){
+ Thread.yield();
+ }
+ measMotor.stop(true);
+
+ reset();
+ rightMotor.backward();
+ leftMotor.backward();
+ while(System.currentTimeMillis()-time < 250){
+ Thread.yield();
+ }
+ turnRandom(45, 60);
+ }
+
+ protected void measureRock(){
+ long time = System.currentTimeMillis();
+ rightMotor.forward();
+ leftMotor.forward();
+ while(System.currentTimeMillis()-time<1000){
+ 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);
+
+ rightMotor.backward();
+ leftMotor.backward();
+ while(System.currentTimeMillis()-time<1000){
+ Thread.yield();
+ }
+ 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);
+ System.out.println(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);
+ System.out.println(Float.toString(sensors.gyro()));
}
@Override
- public boolean takeControl() {
- return true;
+ 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() {}
+ 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(){
+ return true;
+ }
}