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=b31bb8737f818b0d19e38e6960568f1fa3322797;hb=34dae1e7f9c49481d90b3d26978cc5ab52ccc050;hp=0000000000000000000000000000000000000000;hpb=c9506d94c22f96ba5ffea707f5040fcc9d6c3c3f;p=des2015.git

diff --git a/dsl/runtime/src/nl/ru/des/Marster.java b/dsl/runtime/src/nl/ru/des/Marster.java
new file mode 100644
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+++ b/dsl/runtime/src/nl/ru/des/Marster.java
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+package nl.ru.des;
+
+import java.util.Queue;
+
+import lejos.hardware.Button;
+import lejos.hardware.ev3.EV3;
+import lejos.hardware.ev3.LocalEV3;
+import lejos.hardware.lcd.Font;
+import lejos.hardware.lcd.TextLCD;
+import lejos.hardware.motor.EV3LargeRegulatedMotor;
+import lejos.hardware.port.MotorPort;
+import lejos.hardware.sensor.EV3ColorSensor;
+import lejos.hardware.sensor.EV3GyroSensor;
+import lejos.hardware.sensor.EV3TouchSensor;
+import lejos.hardware.sensor.EV3UltrasonicSensor;
+import lejos.hardware.sensor.NXTLightSensor;
+import lejos.robotics.SampleProvider;
+import lejos.robotics.subsumption.Arbitrator;
+
+public class Marster {
+	public static Arbitrator arb;
+	
+	@SuppressWarnings("resource")
+	public static void main(String[] args) {
+		EV3 brick = LocalEV3.get();
+		TextLCD tlcd = brick.getTextLCD(Font.getSmallFont());
+		LCDPrinter.startLCDPrinter(tlcd);
+		System.setOut(LCDPrinter.getPrefixedPrintstream("out: ", tlcd));
+		System.setErr(LCDPrinter.getPrefixedPrintstream("err: ", tlcd));
+		
+		LCDPrinter.print("Loading keylistener...");
+		brick.getKey("Escape").addKeyListener(new ButtonListener());
+
+		if(brick.getName().equalsIgnoreCase("Rover6") || brick.getName().equalsIgnoreCase("Rover8")){
+			LCDPrinter.print("Starting as a slave...");
+			LCDPrinter.print("Loading touch sensors...");
+			SampleProvider leftTouch = new EV3TouchSensor(brick.getPort("S1")).getTouchMode();
+			SampleProvider rightTouch = new EV3TouchSensor(brick.getPort("S2")).getTouchMode();
+			
+			LCDPrinter.print("Loading ultrasone sensor...");
+			SampleProvider frontUltra = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
+			
+			LCDPrinter.print("Loading color sensors...");
+			SampleProvider color = new EV3ColorSensor(brick.getPort("S4")).getColorIDMode();
+			RemoteSensors rs = new RemoteSensors(leftTouch, rightTouch, frontUltra, color);
+			
+			LCDPrinter.print("Start BT...");
+			Queue<String> msgs = BTController.startSlave();
+			rs.start(msgs);
+		} else {
+			LCDPrinter.print("Starting as as master...");
+			LCDPrinter.print("Loading motors...");
+			EV3LargeRegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.A);
+			EV3LargeRegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.B);
+			EV3LargeRegulatedMotor measMotor = new EV3LargeRegulatedMotor(MotorPort.C);
+//			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();
+			SampleProvider rightLight = new NXTLightSensor(brick.getPort("S2")).getRedMode();
+			
+			LCDPrinter.print("Loading ultrasone sensor...");
+			SampleProvider backUltra = new EV3UltrasonicSensor(brick.getPort("S3")).getDistanceMode();
+			
+			LCDPrinter.print("Loading gyro sensor...");
+			SampleProvider gyro = new EV3GyroSensor(brick.getPort("S4")).getAngleAndRateMode();
+
+			LCDPrinter.print("Start BT...");
+			BTController.startMaster(brick.getName() == "Rover5" ? "Rover6" : "Rover8", new SensorCollector(backUltra, leftLight, rightLight, gyro));
+			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();
+//			}
+		}
+	}
+}
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