X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2FMarster.java;h=81ee5f69fc11002bbd063afdeec9362b6e00a61a;hb=1b13ccb59263b66abc763fb8f298b14bdebc9582;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..81ee5f6 100644
--- a/dsl/runtime/src/nl/ru/des/Marster.java
+++ b/dsl/runtime/src/nl/ru/des/Marster.java
@@ -1,24 +1,29 @@
 package nl.ru.des;
 
-import java.util.Queue;
+import java.util.LinkedList;
+import java.util.Random;
 
-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;
+	public static Random random;
 	
 	@SuppressWarnings("resource")
 	public static void main(String[] args) {
@@ -33,6 +38,7 @@ 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();
@@ -44,22 +50,24 @@ 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);
-//			leftMotor.setSpeed(Constants.speed);
-//			rightMotor.setSpeed(Constants.speed);
-//			measMotor.setSpeed(100);
-//			rightMotor.setAcceleration(Constants.acceleration);
-//			leftMotor.setAcceleration(Constants.acceleration);
-//			measMotor.setAcceleration(100);
-			
+			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(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();
@@ -68,19 +76,19 @@ 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")));
 
-			LCDPrinter.print("Start BT...");
-			BTController.startMaster(brick.getName() == "Rover5" ? "Rover6" : "Rover8", 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();
-//			}
+			LinkedList<Mission> missions = Missions.getMissions(sc, rightMotor, leftMotor, measMotor);
+			random = new Random();
+			for(Mission m : missions){
+				LCDPrinter.print("Start " + m.name + " mission...");
+				arb = new Arbitrator(m.behaviours);
+				sc.resetColors();
+				arb.start();
+				LCDPrinter.print(m.name + " finished!!1one!");
+			}
 		}
 	}
 }
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