Implemented communication protocol

[des2015.git] / mart / ev3 / ex2 / nl / ru / des / Main.java

diff --git a/mart/ev3/ex2/nl/ru/des/Main.java b/mart/ev3/ex2/nl/ru/des/Main.java
index 7c78e31..3a7e256 100644 (file)
--- a/mart/ev3/ex2/nl/ru/des/Main.java
+++ b/mart/ev3/ex2/nl/ru/des/Main.java
@@ -3,7 +3,6 @@ package nl.ru.des;
 import lejos.hardware.ev3.EV3;
 import lejos.hardware.ev3.LocalEV3;
 import lejos.hardware.lcd.Font;
-import lejos.hardware.lcd.LCD;
 import lejos.hardware.motor.EV3LargeRegulatedMotor;
 import lejos.hardware.port.MotorPort;
 import lejos.hardware.sensor.EV3ColorSensor;
@@ -16,16 +15,21 @@ public class Main {
        public static void main(String[] args) {
                EV3 brick = LocalEV3.get();
                LCDPrinter lcdprinter = new LCDPrinter(brick.getGraphicsLCD(), Font.getSmallFont());
-               
+               lcdprinter.start();
                /*
                 * Start the slave first. "Socket is 18" is always displayed, we can just ignore this
                 */
-               //BTMemory.getBTMemory(false, "Rover2");
-               BTMemory.getBTMemory(true, "Rover1");
+               ColorMemory mh = new ColorMemory();
+               
+               //BTController btController = BTController.getBTMaster("Rover2", mh); // Master
+               BTController btController = BTController.getBTSlave(mh); // Slave
+               btController.start();
+               BTController.SendMessage("Hi");
+               
                LCDPrinter.print("Robots are connected");
                
                LCDPrinter.print("Starting up systems");
-               lcdprinter.start();
+               
                
                LCDPrinter.print("Loading keylistener...");
                brick.getKey("Escape").addKeyListener(new ButtonListener());
@@ -50,11 +54,11 @@ public class Main {
                                
                LCDPrinter.print("Initializing behaviours...");
                Behavior[] behaviorList = new Behavior[] {
-                               new WandererBehaviour(colorSensorObject, leftMotor, rightMotor),
+                               new WandererBehaviour(colorSensorObject, leftMotor, rightMotor, mh),
                                new StayInFieldBehaviour(colorSensorObject, leftMotor, rightMotor)
+                               //new CommBehaviour(leftMotor, rightMotor)
                };
                
-               
                LCDPrinter.print("Initializing arbitrator...");
                Main.arbitrator = new Arbitrator(behaviorList);
                Main.arbitrator.start();