X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2FMarster.java;h=3684c0a128fa42c464d7210beba1a1333ae4d2b8;hb=ac44621696b120a5aec35edff6b7181a4aafa383;hp=83bc18405152781832cb79b0eac6d4c8ea25bfcd;hpb=73fb2a427446b80fb7325ff2f02f86ea38502ef4;p=des2015.git

diff --git a/dsl/runtime/src/nl/ru/des/Marster.java b/dsl/runtime/src/nl/ru/des/Marster.java
index 83bc184..3684c0a 100644
--- a/dsl/runtime/src/nl/ru/des/Marster.java
+++ b/dsl/runtime/src/nl/ru/des/Marster.java
@@ -1,12 +1,9 @@
 package nl.ru.des;
 
-import java.io.File;
-import java.io.FileOutputStream;
-import java.io.IOException;
-import java.io.InputStream;
 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;
@@ -56,20 +53,12 @@ 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 {
-//			try {
-//				InputStream inp = Marster.class.getResourceAsStream("nl/ru/des/sound/rick.wav");
-//				FileOutputStream out = new FileOutputStream("rick.wav");
-//				byte buffer[] = new byte[2048];
-//				while(inp.read(buffer)>0){
-//					out.write(buffer);
-//				}
-//				inp.close();
-//				out.close();
-//			} catch (IOException e) {
-//				e.printStackTrace();
-//			}
 			String slave = brick.getName().equalsIgnoreCase("Rover5") ? "Rover6" : "Rover8";
 			LCDPrinter.print("Starting as as master...");
 			LCDPrinter.print("My name is " + brick.getName());
@@ -97,16 +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.reset();
+				Sound.buzz();
 				arb.start();
 				LCDPrinter.print(m.name + " finished!!1one!");
 			}
-//			Sound.playSample(new File("rick.wav"));
+			System.exit(0);
 		}
 	}
 }
\ No newline at end of file