removed LCD class

[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 3684c0a..16dd328 100644 (file)
--- a/dsl/runtime/src/nl/ru/des/Marster.java
+++ b/dsl/runtime/src/nl/ru/des/Marster.java
@@ -1,5 +1,6 @@
 package nl.ru.des;
 
+import java.io.PrintStream;
 import java.util.LinkedList;
 import java.util.Random;
 
@@ -8,7 +9,7 @@ import lejos.hardware.Sound;
 import lejos.hardware.ev3.EV3;
 import lejos.hardware.ev3.LocalEV3;
 import lejos.hardware.lcd.Font;
-import lejos.hardware.lcd.TextLCD;
+import lejos.hardware.lcd.LCDOutputStream;
 import lejos.hardware.motor.EV3LargeRegulatedMotor;
 import lejos.hardware.motor.EV3MediumRegulatedMotor;
 import lejos.hardware.port.MotorPort;
@@ -30,25 +31,24 @@ public class Marster {
        @SuppressWarnings("resource")
        public static void main(String[] args) {
                EV3 brick = LocalEV3.get();
-               TextLCD tlcd = brick.getTextLCD(Font.getSmallFont());
-               LCDPrinter.startLCDPrinter(tlcd);
-               System.setOut(LCDPrinter.getPrefixedPrintstream("out: ", tlcd));
-               System.setErr(LCDPrinter.getPrefixedPrintstream("err: ", tlcd));
+               PrintStream lcd = new PrintStream(new LCDOutputStream(brick.getTextLCD(Font.getSmallFont())));
+               System.setOut(lcd);
+               System.setErr(lcd);
                
-               LCDPrinter.print("Loading keylistener...");
+               System.out.println("Loading keylistener...");
                brick.getKey("Escape").addKeyListener(new ButtonListener());
 
                if(brick.getName().equalsIgnoreCase("Rover6") || brick.getName().equalsIgnoreCase("Rover8")){
-                       LCDPrinter.print("Starting as a slave...");
-                       LCDPrinter.print("My name is " + brick.getName());
-                       LCDPrinter.print("Loading touch sensors...");
+                       System.out.println("Starting as a slave...");
+                       System.out.println("My name is " + brick.getName());
+                       System.out.println("Loading touch sensors...");
                        SampleProvider leftTouch = new EV3TouchSensor(brick.getPort("S1")).getTouchMode();
                        SampleProvider rightTouch = new EV3TouchSensor(brick.getPort("S2")).getTouchMode();
                        
-                       LCDPrinter.print("Loading ultrasone sensor...");
+                       System.out.println("Loading ultrasone sensor...");
                        SampleProvider frontUltra = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
                        
-                       LCDPrinter.print("Loading color sensors...");
+                       System.out.println("Loading color sensors...");
                        SampleProvider color = new EV3ColorSensor(brick.getPort("S4")).getColorIDMode();
                        RemoteSensors rs = new RemoteSensors(leftTouch, rightTouch, frontUltra, color);
                        
@@ -60,10 +60,10 @@ public class Marster {
                        }
                } else {
                        String slave = brick.getName().equalsIgnoreCase("Rover5") ? "Rover6" : "Rover8";
-                       LCDPrinter.print("Starting as as master...");
-                       LCDPrinter.print("My name is " + brick.getName());
-                       LCDPrinter.print("Going to connect to: " + slave);
-                       LCDPrinter.print("Loading motors...");
+                       System.out.println("Starting as as master...");
+                       System.out.println("My name is " + brick.getName());
+                       System.out.println("Going to connect to: " + slave);
+                       System.out.println("Loading motors...");
                        RegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.A);
                        RegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.B);
                        RegulatedMotor measMotor = new EV3MediumRegulatedMotor(MotorPort.C);
@@ -72,32 +72,32 @@ public class Marster {
                        measMotor.setSpeed(50);
                        rightMotor.setAcceleration(Constants.acceleration);
                        leftMotor.setAcceleration(Constants.acceleration);
-                       measMotor.setAcceleration(100);
+                       measMotor.setAcceleration(50);
                                                
-                       LCDPrinter.print("Loading touch sensors...");
+                       System.out.println("Loading touch sensors...");
                        SampleProvider leftLight = new NXTLightSensor(brick.getPort("S1")).getRedMode();
                        SampleProvider rightLight = new NXTLightSensor(brick.getPort("S2")).getRedMode();
                        
-                       LCDPrinter.print("Loading ultrasone sensor...");
+                       System.out.println("Loading ultrasone sensor...");
                        SampleProvider backUltra = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
                        
-                       LCDPrinter.print("Loading gyro sensor...");
+                       System.out.println("Loading gyro sensor...");
                        SensorCollector sc = new SensorCollector(backUltra, leftLight, rightLight, new EV3GyroSensor(brick.getPort("S4")));
 
                        BTController.startMaster(slave, sc);
-                       LCDPrinter.print("Finished loading");
+                       System.out.println("Finished loading");
                        sc.calibrate();
                        LinkedList<Mission> missions = Missions.getMissions(sc, rightMotor, leftMotor, measMotor);
                        random = new Random();
-                       LCDPrinter.print("Press any button to start");
+                       System.out.println("Press any button to start");
                        Button.waitForAnyEvent();
                        for(Mission m : missions){
-                               LCDPrinter.print("Start " + m.name + " mission...");
+                               System.out.println("Start " + m.name + " mission...");
                                arb = new Arbitrator(m.behaviours);
                                sc.reset();
-                               Sound.buzz();
                                arb.start();
-                               LCDPrinter.print(m.name + " finished!!1one!");
+                               Sound.buzz();
+                               System.out.println(m.name + " finished!!1one!");
                        }
                        System.exit(0);
                }