package nl.ru.des;
-import java.util.Queue;
-
import lejos.hardware.Button;
import lejos.hardware.ev3.EV3;
import lejos.hardware.ev3.LocalEV3;
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;
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...");
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();