missions started, todo: color collecting, mission switching

[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 f5aee01..c4b3ddf 100644 (file)
--- a/dsl/runtime/src/nl/ru/des/MarsRover.java
+++ b/dsl/runtime/src/nl/ru/des/MarsRover.java
@@ -10,6 +10,7 @@ import lejos.hardware.sensor.EV3ColorSensor;
 import lejos.hardware.sensor.EV3TouchSensor;
 import lejos.hardware.sensor.EV3UltrasonicSensor;
 import lejos.robotics.SampleProvider;
+import lejos.robotics.subsumption.Arbitrator;
 
 public class MarsRover {
        public static final float SAMPLERATE = 100;
@@ -45,5 +46,15 @@ public class MarsRover {
 
                LCDPrinter.print("Initializing behaviours...");
                SensorCollector sensors = new SensorCollector(ultraSonic, color, leftTouch, rightTouch);
+               
+               LCDPrinter.print("Initializing color collector...");
+               ColorMemory colorMemory = new ColorMemory(color);
+               
+               Arbitrator a;
+               for(Mission m : Missions.getMissions(sensors, rightMotor, leftMotor, colorMemory)){
+                       LCDPrinter.print("Start " + m.name + " mission...");
+                       a = new Arbitrator(m.behaviours);
+                       a.start();
+               }
        }
 }
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