update, working bt and final schedule

[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 b31bb87..6fc32e8 100644 (file)
--- a/dsl/runtime/src/nl/ru/des/Marster.java
+++ b/dsl/runtime/src/nl/ru/des/Marster.java
@@ -1,7 +1,5 @@
 package nl.ru.des;
 
-import java.util.Queue;
-
 import lejos.hardware.Button;
 import lejos.hardware.ev3.EV3;
 import lejos.hardware.ev3.LocalEV3;
@@ -16,6 +14,9 @@ import lejos.hardware.sensor.EV3UltrasonicSensor;
 import lejos.hardware.sensor.NXTLightSensor;
 import lejos.robotics.SampleProvider;
 import lejos.robotics.subsumption.Arbitrator;
+import nl.ru.des.sensors.BTController;
+import nl.ru.des.sensors.RemoteSensors;
+import nl.ru.des.sensors.SensorCollector;
 
 public class Marster {
        public static Arbitrator arb;
@@ -44,9 +45,10 @@ public class Marster {
                        SampleProvider color = new EV3ColorSensor(brick.getPort("S4")).getColorIDMode();
                        RemoteSensors rs = new RemoteSensors(leftTouch, rightTouch, frontUltra, color);
                        
-                       LCDPrinter.print("Start BT...");
-                       Queue<String> msgs = BTController.startSlave();
-                       rs.start(msgs);
+                       LCDPrinter.print("Start BT... Press any key to commence");
+                       Button.waitForAnyEvent();
+                       BTController.startSlave();
+                       rs.start(BTController.buf);
                } else {
                        LCDPrinter.print("Starting as as master...");
                        LCDPrinter.print("Loading motors...");
@@ -70,7 +72,8 @@ public class Marster {
                        LCDPrinter.print("Loading gyro sensor...");
                        SampleProvider gyro = new EV3GyroSensor(brick.getPort("S4")).getAngleAndRateMode();
 
-                       LCDPrinter.print("Start BT...");
+                       LCDPrinter.print("Start BT... Press any key to commence");
+                       Button.waitForAnyEvent();
                        BTController.startMaster(brick.getName() == "Rover5" ? "Rover6" : "Rover8", new SensorCollector(backUltra, leftLight, rightLight, gyro));
                        LCDPrinter.print("Finished loading");
                        Button.waitForAnyPress();