+
+ LCDPrinter.print("Initializing color collector...");
+ ColorMemory colorMemory = new ColorMemory(color);
+
+ Arbitrator a;
+ missions = Missions.getMissions(sensors, rightMotor, leftMotor, colorMemory);
+ for(Mission m : missions){
+ LCDPrinter.print("Start " + m.name + " mission...");
+ a = new Arbitrator(m.behaviours);
+ m.SetArbitrator(a);
+ a.start();
+ }
+ }
+
+ public static void FinishMission(String missionName){
+ Mission m = missions.stream().filter(o -> o.name.equalsIgnoreCase(missionName)).findFirst().get();
+ if(m != null){
+ m.arbitrator.stop();
+ }