X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2FBasicBehaviour.java;h=455cbe23dc03729faee920b9eb458f9d903e8ea7;hb=ac44621696b120a5aec35edff6b7181a4aafa383;hp=2a6240ede6cbd838f775642c4e400b5c67de102a;hpb=1b13ccb59263b66abc763fb8f298b14bdebc9582;p=des2015.git

diff --git a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
index 2a6240e..455cbe2 100644
--- a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
+++ b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
@@ -29,9 +29,30 @@ public abstract class BasicBehaviour implements Behavior{
 		leftMotor.setAcceleration(Constants.acceleration);
 		rightMotor.stop(true);
 		leftMotor.stop(true);
+		measMotor.stop(true);
 	}
 
-	protected void measure(){
+	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(15);
+		} else if (sensors.rightLight() && !sensors.leftLight()){
+			rightTurn(15);
+		}
+		
+		rightMotor.stop(true);
+		leftMotor.stop(true);
+		
 		measMotor.backward();
 		while(!suppressed && !measMotor.isStalled()){
 			Thread.yield();
@@ -41,7 +62,32 @@ public abstract class BasicBehaviour implements Behavior{
 			Thread.yield();
 		}
 		measMotor.stop(true);
-		rightTurn(90);
+		
+		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){
@@ -85,12 +131,24 @@ public abstract class BasicBehaviour implements Behavior{
 	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(){