bt working, different behaviours

[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..d67f83b 100644 (file)
--- a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
+++ b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
@@ -1,21 +1,52 @@
 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 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;
+       }
+
+       protected void reset(){
+               rightMotor.setSpeed(Constants.speed);
+               rightMotor.setAcceleration(Constants.acceleration);
+               leftMotor.setSpeed(Constants.speed);
+               leftMotor.setAcceleration(Constants.acceleration);
+               rightMotor.stop(true);
+               leftMotor.stop(true);
+       }
+
+       protected void rockMeasure(){
+               
+       }
+       
+       protected void lakeMeasure(){
+               
        }
        
        @Override
-       public boolean takeControl() {
-               return true;
+       public void action() {
+               suppressed = false;
        }
 
        @Override
-       public void suppress() {}
+       public void suppress() {
+               suppressed = true;
+       }
+       
+       @Override
+       public boolean takeControl() {
+               return true;
+       }
 }