X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;ds=sidebyside;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2FMarster.java;h=83bc18405152781832cb79b0eac6d4c8ea25bfcd;hb=8880a95aedaf51c028818910b64f85472d96c14e;hp=ad31306f01450f5004323928b9cad237bda3269f;hpb=08b6c73b2092b16b5dc1c0f2884d2e9c49c445af;p=des2015.git

diff --git a/dsl/runtime/src/nl/ru/des/Marster.java b/dsl/runtime/src/nl/ru/des/Marster.java
index ad31306..83bc184 100644
--- a/dsl/runtime/src/nl/ru/des/Marster.java
+++ b/dsl/runtime/src/nl/ru/des/Marster.java
@@ -1,7 +1,13 @@
 package nl.ru.des;
 
+import java.io.File;
+import java.io.FileOutputStream;
+import java.io.IOException;
+import java.io.InputStream;
 import java.util.LinkedList;
+import java.util.Random;
 
+import lejos.hardware.Sound;
 import lejos.hardware.ev3.EV3;
 import lejos.hardware.ev3.LocalEV3;
 import lejos.hardware.lcd.Font;
@@ -16,13 +22,13 @@ import lejos.hardware.sensor.EV3UltrasonicSensor;
 import lejos.hardware.sensor.NXTLightSensor;
 import lejos.robotics.RegulatedMotor;
 import lejos.robotics.SampleProvider;
-import lejos.robotics.subsumption.Arbitrator;
 import nl.ru.des.sensors.BTController;
 import nl.ru.des.sensors.RemoteSensors;
 import nl.ru.des.sensors.SensorCollector;
 
 public class Marster {
 	public static Arbitrator arb;
+	public static Random random;
 	
 	@SuppressWarnings("resource")
 	public static void main(String[] args) {
@@ -52,6 +58,18 @@ public class Marster {
 			BTController.startSlave();
 			rs.start(BTController.buf);
 		} else {
+//			try {
+//				InputStream inp = Marster.class.getResourceAsStream("nl/ru/des/sound/rick.wav");
+//				FileOutputStream out = new FileOutputStream("rick.wav");
+//				byte buffer[] = new byte[2048];
+//				while(inp.read(buffer)>0){
+//					out.write(buffer);
+//				}
+//				inp.close();
+//				out.close();
+//			} catch (IOException e) {
+//				e.printStackTrace();
+//			}
 			String slave = brick.getName().equalsIgnoreCase("Rover5") ? "Rover6" : "Rover8";
 			LCDPrinter.print("Starting as as master...");
 			LCDPrinter.print("My name is " + brick.getName());
@@ -62,11 +80,11 @@ public class Marster {
 			RegulatedMotor measMotor = new EV3MediumRegulatedMotor(MotorPort.C);
 			leftMotor.setSpeed(Constants.speed);
 			rightMotor.setSpeed(Constants.speed);
-			measMotor.setSpeed(100);
+			measMotor.setSpeed(50);
 			rightMotor.setAcceleration(Constants.acceleration);
 			leftMotor.setAcceleration(Constants.acceleration);
 			measMotor.setAcceleration(100);
-			
+						
 			LCDPrinter.print("Loading touch sensors...");
 			SampleProvider leftLight = new NXTLightSensor(brick.getPort("S1")).getRedMode();
 			SampleProvider rightLight = new NXTLightSensor(brick.getPort("S2")).getRedMode();
@@ -75,17 +93,20 @@ public class Marster {
 			SampleProvider backUltra = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
 			
 			LCDPrinter.print("Loading gyro sensor...");
-			SampleProvider gyro = new EV3GyroSensor(brick.getPort("S4")).getAngleAndRateMode();
+			SensorCollector sc = new SensorCollector(backUltra, leftLight, rightLight, new EV3GyroSensor(brick.getPort("S4")));
 
-			SensorCollector sc = new SensorCollector(backUltra, leftLight, rightLight, gyro);
 			BTController.startMaster(slave, sc);
 			LCDPrinter.print("Finished loading");
 			LinkedList<Mission> missions = Missions.getMissions(sc, rightMotor, leftMotor, measMotor);
+			random = new Random();
 			for(Mission m : missions){
 				LCDPrinter.print("Start " + m.name + " mission...");
 				arb = new Arbitrator(m.behaviours);
+				sc.reset();
 				arb.start();
+				LCDPrinter.print(m.name + " finished!!1one!");
 			}
+//			Sound.playSample(new File("rick.wav"));
 		}
 	}
 }
\ No newline at end of file