updated lcd printer and better low object avoidance behaviour

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

diff --git a/mart/ev3/ex1/nl/ru/des/Main.java b/mart/ev3/ex1/nl/ru/des/Main.java
index 00593bc..805ff02 100644 (file)
--- a/mart/ev3/ex1/nl/ru/des/Main.java
+++ b/mart/ev3/ex1/nl/ru/des/Main.java
@@ -1,10 +1,9 @@
 package nl.ru.des;
 
-import java.io.File;
-
 import lejos.hardware.Audio;
 import lejos.hardware.ev3.EV3;
 import lejos.hardware.ev3.LocalEV3;
+import lejos.hardware.lcd.Font;
 import lejos.hardware.motor.EV3LargeRegulatedMotor;
 import lejos.hardware.port.MotorPort;
 import lejos.hardware.sensor.EV3TouchSensor;
@@ -17,23 +16,21 @@ import lejos.utility.Delay;
 public class Main {
 
        public static void main(String[] args) {
-               LCDPrinter lcdprinter = new LCDPrinter();
-               LCDPrinter.print("Starting up");
-               lcdprinter.start();
-               LCDPrinter.print("Brick...");
                EV3 brick = LocalEV3.get();
+               LCDPrinter lcdprinter = new LCDPrinter(brick.getGraphicsLCD(), Font.getSmallFont());
+               LCDPrinter.print("Starting up systems");
+               lcdprinter.start();
 
-               LCDPrinter.print("Audio...");
+               LCDPrinter.print("Loading audio...");
                Audio audio = brick.getAudio();
                WavPlayer wavplayer = new WavPlayer(audio);
                wavplayer.start();
-               WavPlayer.playWav(new File("bootaudio.wav"));
+               WavPlayer.playWav("boot.wav");
                
-               LCDPrinter.print("Keylistener...");
+               LCDPrinter.print("Loading keylistener...");
                brick.getKey("Escape").addKeyListener(new ButtonListener());
 
-               //Get motors
-               LCDPrinter.print("Motors...");
+               LCDPrinter.print("Loading motors...");
                EV3LargeRegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.D);
                EV3LargeRegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.A);
                rightMotor.setSpeed(300);
@@ -41,19 +38,17 @@ public class Main {
                rightMotor.setAcceleration(1000);
                leftMotor.setAcceleration(1000);
                
-               //Get sensors
-               LCDPrinter.print("Touch...");
+               LCDPrinter.print("Loading touch sensors...");
                EV3TouchSensor leftTouch = new EV3TouchSensor(brick.getPort("S1"));
                EV3TouchSensor rightTouch = new EV3TouchSensor(brick.getPort("S4"));
-               LCDPrinter.print("Light...");
+               LCDPrinter.print("Loading light sensor...");
                NXTLightSensor lightSensor = new NXTLightSensor(brick.getPort("S2"));
-               LCDPrinter.print("Ultrasone...");
+               LCDPrinter.print("Loading ultrasone sensor...");
                EV3UltrasonicSensor ultraSensor = new EV3UltrasonicSensor(brick.getPort("S3"));
                
-               WavPlayer.playWav(new File("bootsystem.wav"));
+               WavPlayer.playWav("bootsystem.wav");
                
-               //Initialize behaviours
-               LCDPrinter.print("Behaviours...");
+               LCDPrinter.print("Initializing behaviours...");
                Behavior[] behaviorList = new Behavior[] {
                                new WandererBehaviour(leftMotor, rightMotor),
                                new AvoidHighObjectBehaviour(leftMotor, rightMotor, ultraSensor),
@@ -61,12 +56,12 @@ public class Main {
                                new StayInFieldBehaviour(lightSensor, leftMotor, rightMotor),
                };
                
-               WavPlayer.playWav(new File("calibrate.wav"));
+               WavPlayer.playWav("calibrate.wav");
                
-               LCDPrinter.print("Arbitrator...");
+               LCDPrinter.print("Initializing arbitrator...");
                Arbitrator arb = new Arbitrator(behaviorList);
                
-               WavPlayer.playWav(new File("takeoff.wav"));
+               WavPlayer.playWav("takeoff.wav");
                Delay.msDelay(1850);
                LCDPrinter.print("Takeoff!");
                arb.start();