X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;ds=sidebyside;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2FBasicBehaviour.java;h=455cbe23dc03729faee920b9eb458f9d903e8ea7;hb=ac44621696b120a5aec35edff6b7181a4aafa383;hp=2de5ab36ddfb445a93e5b28cc63c5db637a24f93;hpb=095cdf6fc0cbad75c6057a401cbab23c18931a3d;p=des2015.git

diff --git a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
index 2de5ab3..455cbe2 100644
--- a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
+++ b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
@@ -29,13 +29,14 @@ public abstract class BasicBehaviour implements Behavior{
 		leftMotor.setAcceleration(Constants.acceleration);
 		rightMotor.stop(true);
 		leftMotor.stop(true);
+		measMotor.stop(true);
 	}
 
 	protected void measureLake(){
 		long time = System.currentTimeMillis();
 		rightMotor.backward();
 		leftMotor.backward();
-		while(System.currentTimeMillis()-time<500){
+		while(System.currentTimeMillis()-time < 250){
 			Thread.yield();
 		}
 		
@@ -61,8 +62,32 @@ public abstract class BasicBehaviour implements Behavior{
 			Thread.yield();
 		}
 		measMotor.stop(true);
-		reset();
-		rightTurn(45);
+		
+		turnRandom(30, 45);
+	}
+	
+	protected void measureRock(){
+		long time = System.currentTimeMillis();
+		rightMotor.forward();
+		leftMotor.forward();
+		while(System.currentTimeMillis()-time<1500){
+			Thread.yield();
+		}
+		
+		rightMotor.stop(true);
+		leftMotor.stop(true);
+		
+		measMotor.backward();
+		while(!suppressed && !measMotor.isStalled()){
+			Thread.yield();
+		}
+		measMotor.forward();
+		while(!suppressed && !measMotor.isStalled()){
+			Thread.yield();
+		}
+		measMotor.stop(true);
+		
+		turnRandom(30, 45);
 	}
 	
 	protected void turnRandom(int from, int to){