import lejos.hardware.lcd.Font;
import lejos.hardware.lcd.TextLCD;
import lejos.hardware.motor.EV3LargeRegulatedMotor;
+import lejos.hardware.motor.EV3MediumRegulatedMotor;
import lejos.hardware.port.MotorPort;
import lejos.hardware.sensor.EV3ColorSensor;
import lejos.hardware.sensor.EV3GyroSensor;
import lejos.hardware.sensor.EV3TouchSensor;
import lejos.hardware.sensor.EV3UltrasonicSensor;
import lejos.hardware.sensor.NXTLightSensor;
+import lejos.robotics.RegulatedMotor;
import lejos.robotics.SampleProvider;
import lejos.robotics.subsumption.Arbitrator;
import nl.ru.des.sensors.BTController;
if(brick.getName().equalsIgnoreCase("Rover6") || brick.getName().equalsIgnoreCase("Rover8")){
LCDPrinter.print("Starting as a slave...");
+ LCDPrinter.print("My name is " + brick.getName());
LCDPrinter.print("Loading touch sensors...");
SampleProvider leftTouch = new EV3TouchSensor(brick.getPort("S1")).getTouchMode();
SampleProvider rightTouch = new EV3TouchSensor(brick.getPort("S2")).getTouchMode();
SampleProvider color = new EV3ColorSensor(brick.getPort("S4")).getColorIDMode();
RemoteSensors rs = new RemoteSensors(leftTouch, rightTouch, frontUltra, color);
- LCDPrinter.print("Start BT... Press any key to commence");
- Button.waitForAnyEvent();
BTController.startSlave();
rs.start(BTController.buf);
} else {
+ String slave = brick.getName().equalsIgnoreCase("Rover5") ? "Rover6" : "Rover8";
LCDPrinter.print("Starting as as master...");
+ LCDPrinter.print("My name is " + brick.getName());
+ LCDPrinter.print("Going to connect to: " + slave);
LCDPrinter.print("Loading motors...");
- EV3LargeRegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.A);
- EV3LargeRegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.B);
- EV3LargeRegulatedMotor measMotor = new EV3LargeRegulatedMotor(MotorPort.C);
+ 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);
LCDPrinter.print("Loading gyro sensor...");
SampleProvider gyro = new EV3GyroSensor(brick.getPort("S4")).getAngleAndRateMode();
- LCDPrinter.print("Start BT... Press any key to commence");
- Button.waitForAnyEvent();
- BTController.startMaster(brick.getName() == "Rover5" ? "Rover6" : "Rover8", new SensorCollector(backUltra, leftLight, rightLight, gyro));
+ BTController.startMaster(slave, new SensorCollector(backUltra, leftLight, rightLight, gyro));
LCDPrinter.print("Finished loading");
Button.waitForAnyPress();
// Arbitrator a;