X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2FMarster.java;h=6353904e15060af59db17bd317e11efaf2413c53;hb=476c651adb42cd9be8758e4f6ef2fe9ee2519fd5;hp=b31bb8737f818b0d19e38e6960568f1fa3322797;hpb=34dae1e7f9c49481d90b3d26978cc5ab52ccc050;p=des2015.git

diff --git a/dsl/runtime/src/nl/ru/des/Marster.java b/dsl/runtime/src/nl/ru/des/Marster.java
index b31bb87..6353904 100644
--- a/dsl/runtime/src/nl/ru/des/Marster.java
+++ b/dsl/runtime/src/nl/ru/des/Marster.java
@@ -1,21 +1,24 @@
 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.motor.EV3MediumRegulatedMotor;
 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.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;
@@ -33,6 +36,7 @@ public class Marster {
 
 		if(brick.getName().equalsIgnoreCase("Rover6") || brick.getName().equalsIgnoreCase("Rover8")){
 			LCDPrinter.print("Starting as a slave...");
+			LCDPrinter.print("My name is " + brick.getName());
 			LCDPrinter.print("Loading touch sensors...");
 			SampleProvider leftTouch = new EV3TouchSensor(brick.getPort("S1")).getTouchMode();
 			SampleProvider rightTouch = new EV3TouchSensor(brick.getPort("S2")).getTouchMode();
@@ -44,15 +48,17 @@ public class Marster {
 			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);
+			BTController.startSlave();
+			rs.start(BTController.buf);
 		} else {
+			String slave = brick.getName().equalsIgnoreCase("Rover5") ? "Rover6" : "Rover8";
 			LCDPrinter.print("Starting as as master...");
+			LCDPrinter.print("My name is " + brick.getName());
+			LCDPrinter.print("Going to connect to: " + slave);
 			LCDPrinter.print("Loading motors...");
-			EV3LargeRegulatedMotor rightMotor = new EV3LargeRegulatedMotor(MotorPort.A);
-			EV3LargeRegulatedMotor leftMotor = new EV3LargeRegulatedMotor(MotorPort.B);
-			EV3LargeRegulatedMotor measMotor = new EV3LargeRegulatedMotor(MotorPort.C);
+			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);
@@ -70,8 +76,7 @@ public class Marster {
 			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));
+			BTController.startMaster(slave, new SensorCollector(backUltra, leftLight, rightLight, gyro));
 			LCDPrinter.print("Finished loading");
 			Button.waitForAnyPress();
 //			Arbitrator a;