push

[des2015.git] / dsl / xtend / src / robots / missions / generator / TaskDSLGenerator.xtend

diff --git a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
index e57aea6..b4c56ae 100644 (file)
--- a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
+++ b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
@@ -10,8 +10,8 @@ import org.eclipse.xtext.generator.IGenerator
 import robots.missions.taskDSL.Behaviour
 import robots.missions.taskDSL.Mission
 import robots.missions.taskDSL.OperatorE
-import robots.missions.taskDSL.Robot
 import robots.missions.taskDSL.StoppingExpression
+import robots.missions.taskDSL.Robot
 
 /**
  * Generates code from your model files on save.
@@ -73,7 +73,7 @@ public class «b.name»Behaviour extends BasicBehaviour {
        }
        «IF b.tc != null»
        @Override public boolean takeControl(){
-               return !suppressed || «printExpression(b.tc)»;
+               return suppressed == 1 || «printExpression(b.tc)»;
        }
        «ENDIF»
        
@@ -89,10 +89,16 @@ public class «b.name»Behaviour extends BasicBehaviour {
                        «ELSEIF a.measureWhat != null»
                        «a.measureWhat.d.toString()»Measure();
                        «ELSEIF a.turnDir != null»
+                               «IF a.acc > 0»
+                                       leftMotor.setAcceleration(«a.acc»);
+                                       leftMotor.setSpeed(«a.spd»);
+                                       rightMotor.setAcceleration(«a.acc»);
+                                       rightMotor.setSpeed(«a.spd»);
+                               «ENDIF»
                        «a.turnDir.d.toString()»Turn(«a.degrees»);
                        «ELSE»
                        time = System.currentTimeMillis();
-                       while(!suppressed«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
+                       while(suppressed != 2«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
                                Thread.yield(); 
                        }
                        «ENDIF»