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removed LCD class
[des2015.git]
/
dsl
/
runtime
/
src
/
nl
/
ru
/
des
/
Marster.java
diff --git
a/dsl/runtime/src/nl/ru/des/Marster.java
b/dsl/runtime/src/nl/ru/des/Marster.java
index
ee38341
..
16dd328
100644
(file)
--- a/
dsl/runtime/src/nl/ru/des/Marster.java
+++ b/
dsl/runtime/src/nl/ru/des/Marster.java
@@
-1,11
+1,15
@@
package nl.ru.des;
package nl.ru.des;
+import java.io.PrintStream;
import java.util.LinkedList;
import java.util.LinkedList;
+import java.util.Random;
+import lejos.hardware.Button;
+import lejos.hardware.Sound;
import lejos.hardware.ev3.EV3;
import lejos.hardware.ev3.LocalEV3;
import lejos.hardware.lcd.Font;
import lejos.hardware.ev3.EV3;
import lejos.hardware.ev3.LocalEV3;
import lejos.hardware.lcd.Font;
-import lejos.hardware.lcd.
TextLCD
;
+import lejos.hardware.lcd.
LCDOutputStream
;
import lejos.hardware.motor.EV3LargeRegulatedMotor;
import lejos.hardware.motor.EV3MediumRegulatedMotor;
import lejos.hardware.port.MotorPort;
import lejos.hardware.motor.EV3LargeRegulatedMotor;
import lejos.hardware.motor.EV3MediumRegulatedMotor;
import lejos.hardware.port.MotorPort;
@@
-17,46
+21,49
@@
import lejos.hardware.sensor.NXTLightSensor;
import lejos.robotics.RegulatedMotor;
import lejos.robotics.SampleProvider;
import nl.ru.des.sensors.BTController;
import lejos.robotics.RegulatedMotor;
import lejos.robotics.SampleProvider;
import nl.ru.des.sensors.BTController;
-import nl.ru.des.Arbitrator;
import nl.ru.des.sensors.RemoteSensors;
import nl.ru.des.sensors.SensorCollector;
public class Marster {
public static Arbitrator arb;
import nl.ru.des.sensors.RemoteSensors;
import nl.ru.des.sensors.SensorCollector;
public class Marster {
public static Arbitrator arb;
+ public static Random random;
@SuppressWarnings("resource")
public static void main(String[] args) {
EV3 brick = LocalEV3.get();
@SuppressWarnings("resource")
public static void main(String[] args) {
EV3 brick = LocalEV3.get();
- TextLCD tlcd = brick.getTextLCD(Font.getSmallFont());
- LCDPrinter.startLCDPrinter(tlcd);
- System.setOut(LCDPrinter.getPrefixedPrintstream("out: ", tlcd));
- System.setErr(LCDPrinter.getPrefixedPrintstream("err: ", tlcd));
+ PrintStream lcd = new PrintStream(new LCDOutputStream(brick.getTextLCD(Font.getSmallFont())));
+ System.setOut(lcd);
+ System.setErr(lcd);
-
LCDPrinter.print
("Loading keylistener...");
+
System.out.println
("Loading keylistener...");
brick.getKey("Escape").addKeyListener(new ButtonListener());
if(brick.getName().equalsIgnoreCase("Rover6") || brick.getName().equalsIgnoreCase("Rover8")){
brick.getKey("Escape").addKeyListener(new ButtonListener());
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...");
+
System.out.println
("Starting as a slave...");
+
System.out.println
("My name is " + brick.getName());
+
System.out.println
("Loading touch sensors...");
SampleProvider leftTouch = new EV3TouchSensor(brick.getPort("S1")).getTouchMode();
SampleProvider rightTouch = new EV3TouchSensor(brick.getPort("S2")).getTouchMode();
SampleProvider leftTouch = new EV3TouchSensor(brick.getPort("S1")).getTouchMode();
SampleProvider rightTouch = new EV3TouchSensor(brick.getPort("S2")).getTouchMode();
-
LCDPrinter.print
("Loading ultrasone sensor...");
+
System.out.println
("Loading ultrasone sensor...");
SampleProvider frontUltra = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
SampleProvider frontUltra = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
-
LCDPrinter.print
("Loading color sensors...");
+
System.out.println
("Loading color sensors...");
SampleProvider color = new EV3ColorSensor(brick.getPort("S4")).getColorIDMode();
RemoteSensors rs = new RemoteSensors(leftTouch, rightTouch, frontUltra, color);
BTController.startSlave();
SampleProvider color = new EV3ColorSensor(brick.getPort("S4")).getColorIDMode();
RemoteSensors rs = new RemoteSensors(leftTouch, rightTouch, frontUltra, color);
BTController.startSlave();
- rs.start(BTController.buf);
+ try {
+ rs.start(BTController.buf);
+ } catch (Exception e){
+ System.exit(0);
+ }
} else {
String slave = brick.getName().equalsIgnoreCase("Rover5") ? "Rover6" : "Rover8";
} 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...");
+
System.out.println
("Starting as as master...");
+
System.out.println
("My name is " + brick.getName());
+
System.out.println
("Going to connect to: " + slave);
+
System.out.println
("Loading motors...");
RegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.A);
RegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.B);
RegulatedMotor measMotor = new EV3MediumRegulatedMotor(MotorPort.C);
RegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.A);
RegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.B);
RegulatedMotor measMotor = new EV3MediumRegulatedMotor(MotorPort.C);
@@
-65,27
+72,34
@@
public class Marster {
measMotor.setSpeed(50);
rightMotor.setAcceleration(Constants.acceleration);
leftMotor.setAcceleration(Constants.acceleration);
measMotor.setSpeed(50);
rightMotor.setAcceleration(Constants.acceleration);
leftMotor.setAcceleration(Constants.acceleration);
- measMotor.setAcceleration(
10
0);
+ measMotor.setAcceleration(
5
0);
-
LCDPrinter.print
("Loading touch sensors...");
+
System.out.println
("Loading touch sensors...");
SampleProvider leftLight = new NXTLightSensor(brick.getPort("S1")).getRedMode();
SampleProvider rightLight = new NXTLightSensor(brick.getPort("S2")).getRedMode();
SampleProvider leftLight = new NXTLightSensor(brick.getPort("S1")).getRedMode();
SampleProvider rightLight = new NXTLightSensor(brick.getPort("S2")).getRedMode();
-
LCDPrinter.print
("Loading ultrasone sensor...");
+
System.out.println
("Loading ultrasone sensor...");
SampleProvider backUltra = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
SampleProvider backUltra = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
-
LCDPrinter.print
("Loading gyro sensor...");
+
System.out.println
("Loading gyro sensor...");
SensorCollector sc = new SensorCollector(backUltra, leftLight, rightLight, new EV3GyroSensor(brick.getPort("S4")));
BTController.startMaster(slave, sc);
SensorCollector sc = new SensorCollector(backUltra, leftLight, rightLight, new EV3GyroSensor(brick.getPort("S4")));
BTController.startMaster(slave, sc);
- LCDPrinter.print("Finished loading");
+ System.out.println("Finished loading");
+ sc.calibrate();
LinkedList<Mission> missions = Missions.getMissions(sc, rightMotor, leftMotor, measMotor);
LinkedList<Mission> missions = Missions.getMissions(sc, rightMotor, leftMotor, measMotor);
+ random = new Random();
+ System.out.println("Press any button to start");
+ Button.waitForAnyEvent();
for(Mission m : missions){
for(Mission m : missions){
-
LCDPrinter.print
("Start " + m.name + " mission...");
+
System.out.println
("Start " + m.name + " mission...");
arb = new Arbitrator(m.behaviours);
arb = new Arbitrator(m.behaviours);
+ sc.reset();
arb.start();
arb.start();
- LCDPrinter.print(m.name + " finished!!1one!");
+ Sound.buzz();
+ System.out.println(m.name + " finished!!1one!");
}
}
+ System.exit(0);
}
}
}
\ No newline at end of file
}
}
}
\ No newline at end of file