final commit

[des2015.git] / dsl / runtime / src / nl / ru / des / BasicBehaviour.java

diff --git a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
index 2f1dcda..945a709 100644 (file)
--- a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
+++ b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
@@ -1,21 +1,168 @@
 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;
+       }
 }