updated lcd printer and better low object avoidance behaviour

[des2015.git] / mart / ev3 / ex1 / nl / ru / des / AvoidLowObjectBehaviour.java

diff --git a/mart/ev3/ex1/nl/ru/des/AvoidLowObjectBehaviour.java b/mart/ev3/ex1/nl/ru/des/AvoidLowObjectBehaviour.java
index 82309dc..d282226 100644 (file)
--- a/mart/ev3/ex1/nl/ru/des/AvoidLowObjectBehaviour.java
+++ b/mart/ev3/ex1/nl/ru/des/AvoidLowObjectBehaviour.java
@@ -1,7 +1,5 @@
 package nl.ru.des;
 
-import java.io.File;
-
 import lejos.hardware.motor.EV3LargeRegulatedMotor;
 import lejos.hardware.sensor.EV3TouchSensor;
 import lejos.robotics.SampleProvider;
@@ -10,11 +8,10 @@ import lejos.utility.Delay;
 public class AvoidLowObjectBehaviour extends AvoidBehaviour {
        private SampleProvider rightSample, leftSample;
        private float[] samples;
-       private long lastPush = 0;
 
        public AvoidLowObjectBehaviour(EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor,
                        EV3TouchSensor leftTouch, EV3TouchSensor rightTouch) {
-               super(leftMotor, rightMotor, new File("bump.wav"));
+               super(leftMotor, rightMotor, "bump.wav");
                rightSample = rightTouch.getTouchMode();
                leftSample = leftTouch.getTouchMode();
                samples = new float[rightTouch.sampleSize()];
@@ -28,7 +25,6 @@ public class AvoidLowObjectBehaviour extends AvoidBehaviour {
                if(samples[0] == 1){
                        super.setAvoidDirection(false);
                        takeControl = true;
-                       lastPush = System.currentTimeMillis();
                }
                
                //Check if right sensor is pressed
@@ -36,9 +32,8 @@ public class AvoidLowObjectBehaviour extends AvoidBehaviour {
                if(samples[0] == 1){
                        super.setAvoidDirection(true);
                        takeControl = true;
-                       lastPush = System.currentTimeMillis();
                }
-               return takeControl || System.currentTimeMillis()-lastPush < 1000;
+               return takeControl;
        }
        
        @Override