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[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 6353904..ad31306 100644 (file)
--- a/dsl/runtime/src/nl/ru/des/Marster.java
+++ b/dsl/runtime/src/nl/ru/des/Marster.java
@@ -1,6 +1,7 @@
 package nl.ru.des;
 
-import lejos.hardware.Button;
+import java.util.LinkedList;
+
 import lejos.hardware.ev3.EV3;
 import lejos.hardware.ev3.LocalEV3;
 import lejos.hardware.lcd.Font;
@@ -59,12 +60,12 @@ public class Marster {
                        RegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.A);
                        RegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.B);
                        RegulatedMotor measMotor = new EV3MediumRegulatedMotor(MotorPort.C);
-//                     leftMotor.setSpeed(Constants.speed);
-//                     rightMotor.setSpeed(Constants.speed);
-//                     measMotor.setSpeed(100);
-//                     rightMotor.setAcceleration(Constants.acceleration);
-//                     leftMotor.setAcceleration(Constants.acceleration);
-//                     measMotor.setAcceleration(100);
+                       leftMotor.setSpeed(Constants.speed);
+                       rightMotor.setSpeed(Constants.speed);
+                       measMotor.setSpeed(100);
+                       rightMotor.setAcceleration(Constants.acceleration);
+                       leftMotor.setAcceleration(Constants.acceleration);
+                       measMotor.setAcceleration(100);
                        
                        LCDPrinter.print("Loading touch sensors...");
                        SampleProvider leftLight = new NXTLightSensor(brick.getPort("S1")).getRedMode();
@@ -76,16 +77,15 @@ public class Marster {
                        LCDPrinter.print("Loading gyro sensor...");
                        SampleProvider gyro = new EV3GyroSensor(brick.getPort("S4")).getAngleAndRateMode();
 
-                       BTController.startMaster(slave, new SensorCollector(backUltra, leftLight, rightLight, gyro));
+                       SensorCollector sc = new SensorCollector(backUltra, leftLight, rightLight, gyro);
+                       BTController.startMaster(slave, sc);
                        LCDPrinter.print("Finished loading");
-                       Button.waitForAnyPress();
-//                     Arbitrator a;
-//                     LinkedList<Mission> missions = Missions.getMissions(sensors, rightMotor, leftMotor, colorMemory);
-//                     for(Mission m : missions){
-//                             LCDPrinter.print("Start " + m.name + " mission...");
-//                             a = new Arbitrator(m.behaviours);
-//                             a.start();
-//                     }
+                       LinkedList<Mission> missions = Missions.getMissions(sc, rightMotor, leftMotor, measMotor);
+                       for(Mission m : missions){
+                               LCDPrinter.print("Start " + m.name + " mission...");
+                               arb = new Arbitrator(m.behaviours);
+                               arb.start();
+                       }
                }
        }
 }
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