Implemented AvoidObject behaviour and TextLCD

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

diff --git a/mart/ev3/ex2/nl/ru/des/StayInFieldBehaviour.java b/mart/ev3/ex2/nl/ru/des/behaviours/StayInFieldBehaviour.java
similarity index 76%
rename from mart/ev3/ex2/nl/ru/des/StayInFieldBehaviour.java
rename to mart/ev3/ex2/nl/ru/des/behaviours/StayInFieldBehaviour.java
index 7534d3c..3d9e7f6 100644 (file)
--- a/mart/ev3/ex2/nl/ru/des/StayInFieldBehaviour.java
+++ b/mart/ev3/ex2/nl/ru/des/behaviours/StayInFieldBehaviour.java
@@ -1,25 +1,28 @@
-package nl.ru.des;
+package nl.ru.des.behaviours;
 
 import lejos.hardware.motor.EV3LargeRegulatedMotor;
+import lejos.robotics.Color;
 import lejos.robotics.subsumption.Behavior;
+import nl.ru.des.sensors.ColorSensor;
 
 public class StayInFieldBehaviour implements Behavior {
        public static final long BACKWARDSTIME = 250;
        public static final long TURNTIME = 250;
-       
+
        private ColorSensor colorSensor;
        private EV3LargeRegulatedMotor leftMotor, rightMotor;
        private boolean suppressed;
-       
-       public StayInFieldBehaviour(ColorSensor colorSensor, EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor) {
+
+       public StayInFieldBehaviour(ColorSensor colorSensor, EV3LargeRegulatedMotor leftMotor,
+                       EV3LargeRegulatedMotor rightMotor) {
                this.colorSensor = colorSensor;
                this.leftMotor = leftMotor;
                this.rightMotor = rightMotor;
        }
-       
+
        @Override
        public boolean takeControl() {
-               return colorSensor.getCurrentColor() == "Black";
+               return colorSensor.getCurrentColor() == Color.BLACK;
        }
 
        @Override
@@ -32,14 +35,14 @@ public class StayInFieldBehaviour implements Behavior {
                leftMotor.backward();
                rightMotor.backward();
                long time = System.currentTimeMillis();
-               while(!suppressed && System.currentTimeMillis()-time > BACKWARDSTIME){
+               while (!suppressed && System.currentTimeMillis() - time > BACKWARDSTIME) {
                        Thread.yield();
                }
 
                leftMotor.forward();
                rightMotor.backward();
                time = System.currentTimeMillis();
-               while(!suppressed && System.currentTimeMillis()-time > TURNTIME){
+               while (!suppressed && System.currentTimeMillis() - time > TURNTIME) {
                        Thread.yield();
                }
                leftMotor.stop(true);