X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2FMarster.java;h=3684c0a128fa42c464d7210beba1a1333ae4d2b8;hb=ac44621696b120a5aec35edff6b7181a4aafa383;hp=6353904e15060af59db17bd317e11efaf2413c53;hpb=476c651adb42cd9be8758e4f6ef2fe9ee2519fd5;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..3684c0a 100644
--- a/dsl/runtime/src/nl/ru/des/Marster.java
+++ b/dsl/runtime/src/nl/ru/des/Marster.java
@@ -1,6 +1,10 @@
 package nl.ru.des;
 
+import java.util.LinkedList;
+import java.util.Random;
+
 import lejos.hardware.Button;
+import lejos.hardware.Sound;
 import lejos.hardware.ev3.EV3;
 import lejos.hardware.ev3.LocalEV3;
 import lejos.hardware.lcd.Font;
@@ -15,13 +19,13 @@ import lejos.hardware.sensor.EV3UltrasonicSensor;
 import lejos.hardware.sensor.NXTLightSensor;
 import lejos.robotics.RegulatedMotor;
 import lejos.robotics.SampleProvider;
-import lejos.robotics.subsumption.Arbitrator;
 import nl.ru.des.sensors.BTController;
 import nl.ru.des.sensors.RemoteSensors;
 import nl.ru.des.sensors.SensorCollector;
 
 public class Marster {
 	public static Arbitrator arb;
+	public static Random random;
 	
 	@SuppressWarnings("resource")
 	public static void main(String[] args) {
@@ -49,7 +53,11 @@ public class Marster {
 			RemoteSensors rs = new RemoteSensors(leftTouch, rightTouch, frontUltra, color);
 			
 			BTController.startSlave();
-			rs.start(BTController.buf);
+			try {
+				rs.start(BTController.buf);
+			} catch (Exception e){
+				System.exit(0);
+			}
 		} else {
 			String slave = brick.getName().equalsIgnoreCase("Rover5") ? "Rover6" : "Rover8";
 			LCDPrinter.print("Starting as as master...");
@@ -59,13 +67,13 @@ 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(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();
@@ -74,18 +82,24 @@ 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")));
 
-			BTController.startMaster(slave, 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();
-//			}
+			sc.calibrate();
+			LinkedList<Mission> missions = Missions.getMissions(sc, rightMotor, leftMotor, measMotor);
+			random = new Random();
+			LCDPrinter.print("Press any button to start");
+			Button.waitForAnyEvent();
+			for(Mission m : missions){
+				LCDPrinter.print("Start " + m.name + " mission...");
+				arb = new Arbitrator(m.behaviours);
+				sc.reset();
+				Sound.buzz();
+				arb.start();
+				LCDPrinter.print(m.name + " finished!!1one!");
+			}
+			System.exit(0);
 		}
 	}
 }
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