package nl.ru.des;
-import lejos.hardware.Button;
+import java.util.LinkedList;
+
import lejos.hardware.ev3.EV3;
import lejos.hardware.ev3.LocalEV3;
import lejos.hardware.lcd.Font;
RegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.A);
RegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.B);
RegulatedMotor measMotor = new EV3MediumRegulatedMotor(MotorPort.C);
-// leftMotor.setSpeed(Constants.speed);
-// rightMotor.setSpeed(Constants.speed);
-// measMotor.setSpeed(100);
-// rightMotor.setAcceleration(Constants.acceleration);
-// leftMotor.setAcceleration(Constants.acceleration);
-// measMotor.setAcceleration(100);
+ leftMotor.setSpeed(Constants.speed);
+ rightMotor.setSpeed(Constants.speed);
+ measMotor.setSpeed(100);
+ rightMotor.setAcceleration(Constants.acceleration);
+ leftMotor.setAcceleration(Constants.acceleration);
+ measMotor.setAcceleration(100);
LCDPrinter.print("Loading touch sensors...");
SampleProvider leftLight = new NXTLightSensor(brick.getPort("S1")).getRedMode();
LCDPrinter.print("Loading gyro sensor...");
SampleProvider gyro = new EV3GyroSensor(brick.getPort("S4")).getAngleAndRateMode();
- BTController.startMaster(slave, new SensorCollector(backUltra, leftLight, rightLight, gyro));
+ SensorCollector sc = new SensorCollector(backUltra, leftLight, rightLight, gyro);
+ BTController.startMaster(slave, sc);
LCDPrinter.print("Finished loading");
- Button.waitForAnyPress();
-// Arbitrator a;
-// LinkedList<Mission> missions = Missions.getMissions(sensors, rightMotor, leftMotor, colorMemory);
-// for(Mission m : missions){
-// LCDPrinter.print("Start " + m.name + " mission...");
-// a = new Arbitrator(m.behaviours);
-// a.start();
-// }
+ LinkedList<Mission> missions = Missions.getMissions(sc, rightMotor, leftMotor, measMotor);
+ for(Mission m : missions){
+ LCDPrinter.print("Start " + m.name + " mission...");
+ arb = new Arbitrator(m.behaviours);
+ arb.start();
+ }
}
}
}
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