X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2FMarster.java;h=3684c0a128fa42c464d7210beba1a1333ae4d2b8;hb=ac44621696b120a5aec35edff6b7181a4aafa383;hp=81ee5f69fc11002bbd063afdeec9362b6e00a61a;hpb=1b13ccb59263b66abc763fb8f298b14bdebc9582;p=des2015.git

diff --git a/dsl/runtime/src/nl/ru/des/Marster.java b/dsl/runtime/src/nl/ru/des/Marster.java
index 81ee5f6..3684c0a 100644
--- a/dsl/runtime/src/nl/ru/des/Marster.java
+++ b/dsl/runtime/src/nl/ru/des/Marster.java
@@ -3,6 +3,8 @@ 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;
@@ -51,7 +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...");
@@ -80,15 +86,20 @@ public class Marster {
 
 			BTController.startMaster(slave, sc);
 			LCDPrinter.print("Finished loading");
+			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.resetColors();
+				sc.reset();
+				Sound.buzz();
 				arb.start();
 				LCDPrinter.print(m.name + " finished!!1one!");
 			}
+			System.exit(0);
 		}
 	}
 }
\ No newline at end of file