package nl.ru.des;
+import java.io.File;
+import java.io.FileOutputStream;
+import java.io.IOException;
+import java.io.InputStream;
import java.util.LinkedList;
+import java.util.Random;
+import lejos.hardware.Sound;
import lejos.hardware.ev3.EV3;
import lejos.hardware.ev3.LocalEV3;
import lejos.hardware.lcd.Font;
import lejos.hardware.sensor.NXTLightSensor;
import lejos.robotics.RegulatedMotor;
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;
+ public static Random random;
@SuppressWarnings("resource")
public static void main(String[] args) {
BTController.startSlave();
rs.start(BTController.buf);
} else {
+// try {
+// InputStream inp = Marster.class.getResourceAsStream("nl/ru/des/sound/rick.wav");
+// FileOutputStream out = new FileOutputStream("rick.wav");
+// byte buffer[] = new byte[2048];
+// while(inp.read(buffer)>0){
+// out.write(buffer);
+// }
+// inp.close();
+// out.close();
+// } catch (IOException e) {
+// e.printStackTrace();
+// }
String slave = brick.getName().equalsIgnoreCase("Rover5") ? "Rover6" : "Rover8";
LCDPrinter.print("Starting as as master...");
LCDPrinter.print("My name is " + brick.getName());
BTController.startMaster(slave, sc);
LCDPrinter.print("Finished loading");
LinkedList<Mission> missions = Missions.getMissions(sc, rightMotor, leftMotor, measMotor);
+ random = new Random();
for(Mission m : missions){
LCDPrinter.print("Start " + m.name + " mission...");
arb = new Arbitrator(m.behaviours);
+ sc.reset();
arb.start();
+ LCDPrinter.print(m.name + " finished!!1one!");
}
+// Sound.playSample(new File("rick.wav"));
}
}
}
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