Implemented measure motor

[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 ad31306..22ddb06 100644 (file)
--- a/dsl/runtime/src/nl/ru/des/Marster.java
+++ b/dsl/runtime/src/nl/ru/des/Marster.java
@@ -62,11 +62,11 @@ public class Marster {
                        RegulatedMotor measMotor = new EV3MediumRegulatedMotor(MotorPort.C);
                        leftMotor.setSpeed(Constants.speed);
                        rightMotor.setSpeed(Constants.speed);
-                       measMotor.setSpeed(100);
+                       measMotor.setSpeed(50);
                        rightMotor.setAcceleration(Constants.acceleration);
                        leftMotor.setAcceleration(Constants.acceleration);
                        measMotor.setAcceleration(100);
-                       
+                                               
                        LCDPrinter.print("Loading touch sensors...");
                        SampleProvider leftLight = new NXTLightSensor(brick.getPort("S1")).getRedMode();
                        SampleProvider rightLight = new NXTLightSensor(brick.getPort("S2")).getRedMode();
@@ -75,9 +75,8 @@ public class Marster {
                        SampleProvider backUltra = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
                        
                        LCDPrinter.print("Loading gyro sensor...");
-                       SampleProvider gyro = new EV3GyroSensor(brick.getPort("S4")).getAngleAndRateMode();
+                       SensorCollector sc = new SensorCollector(backUltra, leftLight, rightLight, new EV3GyroSensor(brick.getPort("S4")));
 
-                       SensorCollector sc = new SensorCollector(backUltra, leftLight, rightLight, gyro);
                        BTController.startMaster(slave, sc);
                        LCDPrinter.print("Finished loading");
                        LinkedList<Mission> missions = Missions.getMissions(sc, rightMotor, leftMotor, measMotor);