update with colors etc, we now need to test it on physical robots

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

diff --git a/dsl/runtime/src/nl/ru/des/MarsRover.java b/dsl/runtime/src/nl/ru/des/MarsRover.java
index 41a5f90..8561c0a 100644 (file)
--- a/dsl/runtime/src/nl/ru/des/MarsRover.java
+++ b/dsl/runtime/src/nl/ru/des/MarsRover.java
@@ -16,7 +16,7 @@ import lejos.robotics.subsumption.Arbitrator;
 
 public class MarsRover {
        public static final float SAMPLERATE = 100;
-       public static LinkedList<Mission> missions = new LinkedList<Mission>();
+       public static Arbitrator arb;
        
        @SuppressWarnings("resource")
        public static void main(String[] args) {
@@ -54,19 +54,11 @@ public class MarsRover {
                ColorMemory colorMemory = new ColorMemory(color);
                
                Arbitrator a;
-               missions = Missions.getMissions(sensors, rightMotor, leftMotor, colorMemory);
+               LinkedList<Mission> 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();
-               }
-       }
 }
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