X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2FBasicBehaviour.java;h=945a70986b945a268298deb91de7bb3cb9d86cb4;hb=3e5a839d3f540c49d5b903bfebdd8913e7deef9a;hp=44fcbe2af0fada71e904e6a369fe04a0de7ac47a;hpb=8880a95aedaf51c028818910b64f85472d96c14e;p=des2015.git

diff --git a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
index 44fcbe2..945a709 100644
--- a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
+++ b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
@@ -29,13 +29,14 @@ public abstract class BasicBehaviour implements Behavior{
 		leftMotor.setAcceleration(Constants.acceleration);
 		rightMotor.stop(true);
 		leftMotor.stop(true);
+		measMotor.stop(true);
 	}
 
 	protected void measureLake(){
 		long time = System.currentTimeMillis();
 		rightMotor.backward();
 		leftMotor.backward();
-		while(System.currentTimeMillis()-time<500){
+		while(System.currentTimeMillis()-time < 250){
 			Thread.yield();
 		}
 		
@@ -44,32 +45,38 @@ public abstract class BasicBehaviour implements Behavior{
 		rightMotor.setSpeed(25);
 		leftMotor.setSpeed(25);
 		if(sensors.leftLight() && !sensors.rightLight()){
-			leftTurn(15);
+			leftTurn(10);
 		} else if (sensors.rightLight() && !sensors.leftLight()){
-			rightTurn(15);
+			rightTurn(10);
 		}
 		
 		rightMotor.stop(true);
 		leftMotor.stop(true);
 		
-		measMotor.backward();
-		while(!suppressed && !measMotor.isStalled()){
+		measMotor.rotate(-100, true);
+		while(!suppressed && !measMotor.isStalled() && measMotor.isMoving()){
 			Thread.yield();
 		}
-		measMotor.forward();
-		while(!suppressed && !measMotor.isStalled()){
+		measMotor.rotate(100, true);
+		while(!suppressed && !measMotor.isStalled() && measMotor.isMoving()){
 			Thread.yield();
 		}
 		measMotor.stop(true);
 		
-		turnRandom(30, 45);
+		reset();
+		rightMotor.backward();
+		leftMotor.backward();
+		while(System.currentTimeMillis()-time < 250){
+			Thread.yield();
+		}
+		turnRandom(45, 60);
 	}
 	
 	protected void measureRock(){
 		long time = System.currentTimeMillis();
 		rightMotor.forward();
 		leftMotor.forward();
-		while(System.currentTimeMillis()-time<1500){
+		while(System.currentTimeMillis()-time<1000){
 			Thread.yield();
 		}
 		
@@ -86,6 +93,11 @@ public abstract class BasicBehaviour implements Behavior{
 		}
 		measMotor.stop(true);
 		
+		rightMotor.backward();
+		leftMotor.backward();
+		while(System.currentTimeMillis()-time<1000){
+			Thread.yield();
+		}
 		turnRandom(30, 45);
 	}
 	
@@ -109,7 +121,7 @@ public abstract class BasicBehaviour implements Behavior{
 		}
 		rightMotor.stop(true);
 		leftMotor.stop(true);
-		LCDPrinter.print(Float.toString(sensors.gyro()));
+		System.out.println(Float.toString(sensors.gyro()));
 	}
 	
 	protected void leftTurn(int angle){
@@ -123,7 +135,7 @@ public abstract class BasicBehaviour implements Behavior{
 		}
 		rightMotor.stop(true);
 		leftMotor.stop(true);
-		LCDPrinter.print(Float.toString(sensors.gyro()));
+		System.out.println(Float.toString(sensors.gyro()));
 	}
 	
 	@Override