X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2FMarster.java;fp=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2FMarster.java;h=22ddb06de5e153db340d7a51c3344675dfaf4257;hb=3a12cfb82749c7ca2cec2d31da1b4d62ffe9e7e2;hp=ad31306f01450f5004323928b9cad237bda3269f;hpb=16aef029cf49685c60c422d36b54d459355e832c;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..22ddb06 100644
--- a/dsl/runtime/src/nl/ru/des/Marster.java
+++ b/dsl/runtime/src/nl/ru/des/Marster.java
@@ -62,11 +62,11 @@ 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();
@@ -75,9 +75,8 @@ 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);