X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2FBasicBehaviour.java;h=8fd1fd38f551fbb3e6c73444e2baaf6d4b686334;hb=7d9c29a46bae0afbc961e57f3013190b31ae5234;hp=e55558d459010b83fd7f53cf77ef9e4ff312dd49;hpb=7e45053aae7bca99baa8ffeeba0d7946d1874f93;p=des2015.git

diff --git a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
index e55558d..8fd1fd3 100644
--- a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
+++ b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
@@ -8,7 +8,7 @@ public abstract class BasicBehaviour implements Behavior{
 	protected enum SuppressedState {
 		IDLE, IN_ACTION, SUPPRESSED;
 	}
-	protected SuppressedState suppressed;
+	private SuppressedState suppressed;
 	protected RegulatedMotor leftMotor, rightMotor, measMotor;
 	protected SensorCollector sensors;
 	protected long time;
@@ -28,16 +28,20 @@ public abstract class BasicBehaviour implements Behavior{
 		leftMotor.setAcceleration(Constants.acceleration);
 		rightMotor.stop(true);
 		leftMotor.stop(true);
-		suppressed = SuppressedState.IDLE;
+		setSuppressed(SuppressedState.IDLE);
+		long time = System.currentTimeMillis();
+		while(System.currentTimeMillis()-time > 250){
+			Thread.yield();
+		}
 	}
 
 	protected void measure(){
 		measMotor.backward();
-		while(suppressed == SuppressedState.IN_ACTION && !measMotor.isStalled()){
+		while(getSuppressed() == SuppressedState.IN_ACTION && !measMotor.isStalled()){
 			Thread.yield();
 		}
 		measMotor.forward();
-		while(suppressed == SuppressedState.IN_ACTION && !measMotor.isStalled()){
+		while(getSuppressed() == SuppressedState.IN_ACTION && !measMotor.isStalled()){
 			Thread.yield();
 		}
 		measMotor.stop(true);
@@ -50,7 +54,7 @@ public abstract class BasicBehaviour implements Behavior{
 		sensors.resetGyro();
 		rightMotor.backward();
 		leftMotor.forward();
-		while(suppressed == SuppressedState.IN_ACTION && Math.abs(sensors.gyro()) < angle){
+		while(getSuppressed() == SuppressedState.IN_ACTION && Math.abs(sensors.gyro()) < angle){
 			Thread.yield();
 		}
 		LCDPrinter.print(Float.toString(sensors.gyro()));
@@ -62,20 +66,28 @@ public abstract class BasicBehaviour implements Behavior{
 		sensors.resetGyro();
 		leftMotor.backward();
 		rightMotor.forward();
-		while(suppressed == SuppressedState.IN_ACTION && Math.abs(sensors.gyro()) < angle){
+		while(getSuppressed() == SuppressedState.IN_ACTION && Math.abs(sensors.gyro()) < angle){
 			Thread.yield();
 		}
 		LCDPrinter.print(Float.toString(sensors.gyro()));
 	}
 	
+	protected synchronized void setSuppressed(SuppressedState sup){
+		suppressed = sup;
+	}
+	
+	protected SuppressedState getSuppressed(){
+		return suppressed;
+	}
+	
 	@Override
 	public void action() {
-		suppressed = SuppressedState.IN_ACTION;
+		setSuppressed(SuppressedState.IN_ACTION);
 	}
 
 	@Override
 	public void suppress() {
-		suppressed = SuppressedState.SUPPRESSED;
+		setSuppressed(SuppressedState.SUPPRESSED);
 	}
 	
 	@Override public boolean takeControl(){