X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fxtend%2Fsrc%2Frobots%2Fmissions%2Fgenerator%2FTaskDSLGenerator.xtend;fp=dsl%2Fxtend%2Fsrc%2Frobots%2Fmissions%2Fgenerator%2FTaskDSLGenerator.xtend;h=b4c56aea131ca10046cce54c8a932344d4c8eb70;hb=16aef029cf49685c60c422d36b54d459355e832c;hp=e57aea6d4d5efb52a839da1153039cfd5d78033b;hpb=08b6c73b2092b16b5dc1c0f2884d2e9c49c445af;p=des2015.git

diff --git a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
index e57aea6..b4c56ae 100644
--- a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
+++ b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
@@ -10,8 +10,8 @@ import org.eclipse.xtext.generator.IGenerator
 import robots.missions.taskDSL.Behaviour
 import robots.missions.taskDSL.Mission
 import robots.missions.taskDSL.OperatorE
-import robots.missions.taskDSL.Robot
 import robots.missions.taskDSL.StoppingExpression
+import robots.missions.taskDSL.Robot
 
 /**
  * Generates code from your model files on save.
@@ -73,7 +73,7 @@ public class «b.name»Behaviour extends BasicBehaviour {
 	}
 	«IF b.tc != null»
 	@Override public boolean takeControl(){
-		return !suppressed || «printExpression(b.tc)»;
+		return suppressed == 1 || «printExpression(b.tc)»;
 	}
 	«ENDIF»
 	
@@ -89,10 +89,16 @@ public class «b.name»Behaviour extends BasicBehaviour {
 			«ELSEIF a.measureWhat != null»
 			«a.measureWhat.d.toString()»Measure();
 			«ELSEIF a.turnDir != null»
+				«IF a.acc > 0»
+					leftMotor.setAcceleration(«a.acc»);
+					leftMotor.setSpeed(«a.spd»);
+					rightMotor.setAcceleration(«a.acc»);
+					rightMotor.setSpeed(«a.spd»);
+				«ENDIF»
 			«a.turnDir.d.toString()»Turn(«a.degrees»);
 			«ELSE»
 			time = System.currentTimeMillis();
-			while(!suppressed«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
+			while(suppressed != 2«IF a.time.time > 0» && System.currentTimeMillis()-time>«a.time.time»«ENDIF»){
 				Thread.yield();	
 			}
 			«ENDIF»