X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2FBasicBehaviour.java;h=455cbe23dc03729faee920b9eb458f9d903e8ea7;hb=ac44621696b120a5aec35edff6b7181a4aafa383;hp=9b7742b59211aaea353305b9b4b59069edaf0b57;hpb=16aef029cf49685c60c422d36b54d459355e832c;p=des2015.git

diff --git a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
index 9b7742b..455cbe2 100644
--- a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
+++ b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
@@ -5,7 +5,8 @@ import lejos.robotics.subsumption.Behavior;
 import nl.ru.des.sensors.SensorCollector;
 
 public abstract class BasicBehaviour implements Behavior{
-	protected int suppressed;
+	protected boolean suppressed;
+	protected boolean finished;
 	protected RegulatedMotor leftMotor, rightMotor, measMotor;
 	protected SensorCollector sensors;
 	protected long time;
@@ -16,53 +17,138 @@ public abstract class BasicBehaviour implements Behavior{
 		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);
-		suppressed = 0;
+		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(15);
+		} else if (sensors.rightLight() && !sensors.leftLight()){
+			rightTurn(15);
+		}
+		
+		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 lakeMeasure(){
+	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){
+		int degrees = Marster.random.nextInt(to-from)+from;
+		if(Marster.random.nextBoolean()){
+			rightTurn(degrees);
+		} else {
+			leftTurn(degrees);
+		}
 	}
 	
 	protected void rightTurn(int angle){
-		float init = sensors.gyro();
+		rightMotor.stop(true);
+		leftMotor.stop();
+		sensors.resetGyro();
 		rightMotor.backward();
 		leftMotor.forward();
-
-		while(suppressed != 2 && sensors.gyro()-90>init){
+		while(!suppressed && Math.abs(sensors.gyro()) < angle){
 			Thread.yield();
 		}
+		rightMotor.stop(true);
+		leftMotor.stop(true);
+		LCDPrinter.print(Float.toString(sensors.gyro()));
 	}
 	
 	protected void leftTurn(int angle){
-		float init = sensors.gyro();
+		rightMotor.stop(true);
+		leftMotor.stop();
+		sensors.resetGyro();
 		leftMotor.backward();
 		rightMotor.forward();
-		while(suppressed != 2 && sensors.gyro()+90<init){
+		while(!suppressed && Math.abs(sensors.gyro()) < angle){
 			Thread.yield();
 		}
+		rightMotor.stop(true);
+		leftMotor.stop(true);
+		LCDPrinter.print(Float.toString(sensors.gyro()));
 	}
 	
 	@Override
 	public void action() {
-		suppressed = 1;
+		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 = 2;
+		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(){