X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2FMarster.java;h=6fc32e8fdfb7d13335b078fddc102eee6e69b0d6;hb=d66c5c319eb15f45086d6d0f6bda34b7ebedc42e;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..6fc32e8 100644
--- a/dsl/runtime/src/nl/ru/des/Marster.java
+++ b/dsl/runtime/src/nl/ru/des/Marster.java
@@ -1,7 +1,5 @@
 package nl.ru.des;
 
-import java.util.Queue;
-
 import lejos.hardware.Button;
 import lejos.hardware.ev3.EV3;
 import lejos.hardware.ev3.LocalEV3;
@@ -16,6 +14,9 @@ import lejos.hardware.sensor.EV3UltrasonicSensor;
 import lejos.hardware.sensor.NXTLightSensor;
 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;
@@ -44,9 +45,10 @@ 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);
+			LCDPrinter.print("Start BT... Press any key to commence");
+			Button.waitForAnyEvent();
+			BTController.startSlave();
+			rs.start(BTController.buf);
 		} else {
 			LCDPrinter.print("Starting as as master...");
 			LCDPrinter.print("Loading motors...");
@@ -70,7 +72,8 @@ public class Marster {
 			LCDPrinter.print("Loading gyro sensor...");
 			SampleProvider gyro = new EV3GyroSensor(brick.getPort("S4")).getAngleAndRateMode();
 
-			LCDPrinter.print("Start BT...");
+			LCDPrinter.print("Start BT... Press any key to commence");
+			Button.waitForAnyEvent();
 			BTController.startMaster(brick.getName() == "Rover5" ? "Rover6" : "Rover8", new SensorCollector(backUltra, leftLight, rightLight, gyro));
 			LCDPrinter.print("Finished loading");
 			Button.waitForAnyPress();