X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;ds=sidebyside;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2FBasicBehaviour.java;h=945a70986b945a268298deb91de7bb3cb9d86cb4;hb=3e5a839d3f540c49d5b903bfebdd8913e7deef9a;hp=c91e6138370b8604f5b4126686b84d145bfba04e;hpb=d66c5c319eb15f45086d6d0f6bda34b7ebedc42e;p=des2015.git

diff --git a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
index c91e613..945a709 100644
--- a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
+++ b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
@@ -1,52 +1,168 @@
 package nl.ru.des;
 
-import lejos.hardware.motor.EV3LargeRegulatedMotor;
+import lejos.robotics.RegulatedMotor;
 import lejos.robotics.subsumption.Behavior;
 import nl.ru.des.sensors.SensorCollector;
 
 public abstract class BasicBehaviour implements Behavior{
 	protected boolean suppressed;
-	protected EV3LargeRegulatedMotor leftMotor, rightMotor, measMotor;
+	protected boolean finished;
+	protected RegulatedMotor leftMotor, rightMotor, measMotor;
 	protected SensorCollector sensors;
 	protected long time;
 	
-	public BasicBehaviour(SensorCollector sensors, EV3LargeRegulatedMotor leftMotor,
-			EV3LargeRegulatedMotor rightMotor, EV3LargeRegulatedMotor measMotor){
+	public BasicBehaviour(SensorCollector sensors, RegulatedMotor leftMotor,
+			RegulatedMotor rightMotor, RegulatedMotor measMotor){
 		this.leftMotor = leftMotor;
 		this.rightMotor = rightMotor;
 		this.measMotor = measMotor;
 		this.sensors = sensors;
+		suppressed = false;
+		finished = true;
 	}
-	
+
 	protected void reset(){
+		finished = true;
 		rightMotor.setSpeed(Constants.speed);
 		rightMotor.setAcceleration(Constants.acceleration);
 		leftMotor.setSpeed(Constants.speed);
 		leftMotor.setAcceleration(Constants.acceleration);
 		rightMotor.stop(true);
 		leftMotor.stop(true);
+		measMotor.stop(true);
 	}
 
-	protected void rockMeasure(){
+	protected void measureLake(){
+		long time = System.currentTimeMillis();
+		rightMotor.backward();
+		leftMotor.backward();
+		while(System.currentTimeMillis()-time < 250){
+			Thread.yield();
+		}
+		
+		rightMotor.stop(true);
+		leftMotor.stop(true);
+		rightMotor.setSpeed(25);
+		leftMotor.setSpeed(25);
+		if(sensors.leftLight() && !sensors.rightLight()){
+			leftTurn(10);
+		} else if (sensors.rightLight() && !sensors.leftLight()){
+			rightTurn(10);
+		}
+		
+		rightMotor.stop(true);
+		leftMotor.stop(true);
+		
+		measMotor.rotate(-100, true);
+		while(!suppressed && !measMotor.isStalled() && measMotor.isMoving()){
+			Thread.yield();
+		}
+		measMotor.rotate(100, true);
+		while(!suppressed && !measMotor.isStalled() && measMotor.isMoving()){
+			Thread.yield();
+		}
+		measMotor.stop(true);
 		
+		reset();
+		rightMotor.backward();
+		leftMotor.backward();
+		while(System.currentTimeMillis()-time < 250){
+			Thread.yield();
+		}
+		turnRandom(45, 60);
 	}
 	
-	protected void lakeMeasure(){
+	protected void measureRock(){
+		long time = System.currentTimeMillis();
+		rightMotor.forward();
+		leftMotor.forward();
+		while(System.currentTimeMillis()-time<1000){
+			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);
+		
+		rightMotor.backward();
+		leftMotor.backward();
+		while(System.currentTimeMillis()-time<1000){
+			Thread.yield();
+		}
+		turnRandom(30, 45);
+	}
+	
+	protected void turnRandom(int from, int to){
+		int degrees = Marster.random.nextInt(to-from)+from;
+		if(Marster.random.nextBoolean()){
+			rightTurn(degrees);
+		} else {
+			leftTurn(degrees);
+		}
+	}
+	
+	protected void rightTurn(int angle){
+		rightMotor.stop(true);
+		leftMotor.stop();
+		sensors.resetGyro();
+		rightMotor.backward();
+		leftMotor.forward();
+		while(!suppressed && Math.abs(sensors.gyro()) < angle){
+			Thread.yield();
+		}
+		rightMotor.stop(true);
+		leftMotor.stop(true);
+		System.out.println(Float.toString(sensors.gyro()));
+	}
+	
+	protected void leftTurn(int angle){
+		rightMotor.stop(true);
+		leftMotor.stop();
+		sensors.resetGyro();
+		leftMotor.backward();
+		rightMotor.forward();
+		while(!suppressed && Math.abs(sensors.gyro()) < angle){
+			Thread.yield();
+		}
+		rightMotor.stop(true);
+		leftMotor.stop(true);
+		System.out.println(Float.toString(sensors.gyro()));
 	}
 	
 	@Override
 	public void action() {
 		suppressed = false;
+		finished = false;
+		rightMotor.setSpeed(Constants.speed);
+		rightMotor.setAcceleration(Constants.acceleration);
+		leftMotor.setSpeed(Constants.speed);
+		leftMotor.setAcceleration(Constants.acceleration);
+		rightMotor.stop(true);
+		leftMotor.stop(true);
 	}
 
 	@Override
 	public void suppress() {
 		suppressed = true;
+		finished = true;
+		rightMotor.setSpeed(Constants.speed);
+		rightMotor.setAcceleration(Constants.acceleration);
+		leftMotor.setSpeed(Constants.speed);
+		leftMotor.setAcceleration(Constants.acceleration);
+		rightMotor.stop(true);
+		leftMotor.stop(true);
 	}
 	
-	@Override
-	public boolean takeControl() {
+	@Override public boolean takeControl(){
 		return true;
 	}
 }