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=ad31306f01450f5004323928b9cad237bda3269f;hb=08b6c73b2092b16b5dc1c0f2884d2e9c49c445af;hp=6353904e15060af59db17bd317e11efaf2413c53;hpb=7c99354e9259379ab5dab36745024dce2393252d;p=des2015.git

diff --git a/dsl/runtime/src/nl/ru/des/Marster.java b/dsl/runtime/src/nl/ru/des/Marster.java
index 6353904..ad31306 100644
--- a/dsl/runtime/src/nl/ru/des/Marster.java
+++ b/dsl/runtime/src/nl/ru/des/Marster.java
@@ -1,6 +1,7 @@
 package nl.ru.des;
 
-import lejos.hardware.Button;
+import java.util.LinkedList;
+
 import lejos.hardware.ev3.EV3;
 import lejos.hardware.ev3.LocalEV3;
 import lejos.hardware.lcd.Font;
@@ -59,12 +60,12 @@ public class Marster {
 			RegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.A);
 			RegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.B);
 			RegulatedMotor measMotor = new EV3MediumRegulatedMotor(MotorPort.C);
-//			leftMotor.setSpeed(Constants.speed);
-//			rightMotor.setSpeed(Constants.speed);
-//			measMotor.setSpeed(100);
-//			rightMotor.setAcceleration(Constants.acceleration);
-//			leftMotor.setAcceleration(Constants.acceleration);
-//			measMotor.setAcceleration(100);
+			leftMotor.setSpeed(Constants.speed);
+			rightMotor.setSpeed(Constants.speed);
+			measMotor.setSpeed(100);
+			rightMotor.setAcceleration(Constants.acceleration);
+			leftMotor.setAcceleration(Constants.acceleration);
+			measMotor.setAcceleration(100);
 			
 			LCDPrinter.print("Loading touch sensors...");
 			SampleProvider leftLight = new NXTLightSensor(brick.getPort("S1")).getRedMode();
@@ -76,16 +77,15 @@ public class Marster {
 			LCDPrinter.print("Loading gyro sensor...");
 			SampleProvider gyro = new EV3GyroSensor(brick.getPort("S4")).getAngleAndRateMode();
 
-			BTController.startMaster(slave, new SensorCollector(backUltra, leftLight, rightLight, gyro));
+			SensorCollector sc = new SensorCollector(backUltra, leftLight, rightLight, gyro);
+			BTController.startMaster(slave, sc);
 			LCDPrinter.print("Finished loading");
-			Button.waitForAnyPress();
-//			Arbitrator a;
-//			LinkedList<Mission> missions = Missions.getMissions(sensors, rightMotor, leftMotor, colorMemory);
-//			for(Mission m : missions){
-//				LCDPrinter.print("Start " + m.name + " mission...");
-//				a = new Arbitrator(m.behaviours);
-//				a.start();
-//			}
+			LinkedList<Mission> missions = Missions.getMissions(sc, rightMotor, leftMotor, measMotor);
+			for(Mission m : missions){
+				LCDPrinter.print("Start " + m.name + " mission...");
+				arb = new Arbitrator(m.behaviours);
+				arb.start();
+			}
 		}
 	}
 }
\ No newline at end of file