-Acceleration 1000
+-Acceleration 1000
Speed 200
Behaviour Wander
take control:
--- /dev/null
+Acceleration 1000
+Speed 250
+Behaviour Wander
+ take control:
+ action:
+ left motor forward
+ right motor forward
+ wait forever
+
+Behaviour StayInFieldBoth
+ take control: (&& Light on left Light on right)
+ action:
+ left motor backward with speed 1000 acceleration 10000
+ right motor backward with speed 250 acceleration 10000
+ wait 1000 ms
+Behaviour StayInFieldL
+ take control: Light on left
+ action:
+ right motor backward with speed 250 acceleration 10000
+ left motor forward with speed 250 acceleration 10000
+ wait 750 ms
+Behaviour StayInFieldR
+ take control: Light on right
+ action:
+ right motor forward with speed 250 acceleration 10000
+ left motor backward with speed 250 acceleration 10000
+ wait 750 ms
+Behaviour StayInFieldB
+ take control: Distance dangerous at back
+ action:
+ wait 750 ms
+
+Mission stayinfield using Wander StayInFieldL StayInFieldR StayInFieldB StayInFieldBoth and stops when Color is Cyan
\ No newline at end of file
}
+ protected void rightTurn(int angle){
+
+ }
+
+ protected void leftTurn(int angle){
+
+ }
+
@Override
public void action() {
suppressed = false;
package nl.ru.des;
-import lejos.hardware.Button;
+import java.util.LinkedList;
+
import lejos.hardware.ev3.EV3;
import lejos.hardware.ev3.LocalEV3;
import lejos.hardware.lcd.Font;
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);
-// rightMotor.setAcceleration(Constants.acceleration);
-// leftMotor.setAcceleration(Constants.acceleration);
-// measMotor.setAcceleration(100);
+ leftMotor.setSpeed(Constants.speed);
+ rightMotor.setSpeed(Constants.speed);
+ measMotor.setSpeed(100);
+ rightMotor.setAcceleration(Constants.acceleration);
+ leftMotor.setAcceleration(Constants.acceleration);
+ measMotor.setAcceleration(100);
LCDPrinter.print("Loading touch sensors...");
SampleProvider leftLight = new NXTLightSensor(brick.getPort("S1")).getRedMode();
LCDPrinter.print("Loading gyro sensor...");
SampleProvider gyro = new EV3GyroSensor(brick.getPort("S4")).getAngleAndRateMode();
- BTController.startMaster(slave, new SensorCollector(backUltra, leftLight, rightLight, gyro));
+ SensorCollector sc = 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);
+ for(Mission m : missions){
+ LCDPrinter.print("Start " + m.name + " mission...");
+ arb = new Arbitrator(m.behaviours);
+ arb.start();
+ }
}
}
}
\ No newline at end of file
package nl.ru.des;
-import lejos.hardware.motor.EV3LargeRegulatedMotor;
-import nl.ru.des.sensors.SensorCollector;
+import lejos.robotics.subsumption.Behavior;
-public class ShutdownBehaviour extends BasicBehaviour{
- public ShutdownBehaviour(SensorCollector sensors, EV3LargeRegulatedMotor leftMotor,
- EV3LargeRegulatedMotor rightMotor, EV3LargeRegulatedMotor measMotor) {
- super(sensors, leftMotor, rightMotor, measMotor);
- }
-
+public abstract class ShutdownBehaviour implements Behavior{
@Override public void action(){
LCDPrinter.print("Terminate mission");
Marster.arb.stop();
}
+
+ @Override public void suppress(){}
}
import nl.ru.des.LCDPrinter;
public class RemoteSensors{
- public static final int DELAY = 250;
+ public static final int DELAY = 100;
private SampleProvider left, right, ultra, color;
private float[] leftSamples, rightSamples, ultraSamples, colorSamples;
private float leftLatest, rightLatest, ultraLatest, colorLatest;
package nl.ru.des.sensors;
+import lejos.hardware.lcd.LCD;
import lejos.robotics.SampleProvider;
-import nl.ru.des.LCDPrinter;
+import lejos.utility.Delay;
public class SensorCollector implements MessageHandler{
- public static final int DELAY = 300;
+ public static final int DELAY = 100;
+
+ private static final float DANGER_DISTANCE_FRONT = 0.15f;
+ private static final float DANGER_DISTANCE_BACK = 0.035f;
+ private static final float DANGER_LIGHT = 0.45f;
//Local sensors
private SampleProvider ultra, leftLight, rightLight, gyro;
gyroTime = System.currentTimeMillis();
}
+ public void debug(){
+ new Thread(){
+ @Override public void run(){
+ while(true){
+ ultra.fetchSample(ultraSamples, 0);
+ leftLight.fetchSample(leftLightSamples, 0);
+ rightLight.fetchSample(rightLightSamples, 0);
+ LCD.drawString("back: " + Float.toString(ultraSamples[0]), 0, 1);
+ LCD.drawString("front: " + Float.toString(frontUltra), 0, 2);
+ LCD.drawString("left: " + Float.toString(leftLightSamples[0]), 0, 3);
+ LCD.drawString("right: " + Float.toString(rightLightSamples[0]), 0, 4);
+ Delay.msDelay(250);
+ }
+ }
+ }.run();
+ }
+
//Local sensors
- public float backDistance(){
+ public boolean backDistance(){
if(System.currentTimeMillis()-ultraTime>DELAY){
ultra.fetchSample(ultraSamples, 0);
ultraTime = System.currentTimeMillis();
}
- return ultraSamples[0];
+ return ultraSamples[0]>DANGER_DISTANCE_BACK;
}
public boolean leftLight(){
leftLight.fetchSample(leftLightSamples, 0);
leftLightTime = System.currentTimeMillis();
}
- return leftLightSamples[0]>0.5;
+ return leftLightSamples[0]>DANGER_LIGHT;
}
public boolean rightLight(){
rightLight.fetchSample(rightLightSamples, 0);
rightLightTime = System.currentTimeMillis();
}
- return rightLightSamples[0]>0.5;
+ return rightLightSamples[0]>DANGER_LIGHT;
}
public float gyro(){
}
//Remote sensors
+ public boolean collected(int[] colors){
+ return false;
+ }
+
public int color(){
return color;
}
return rightTouch;
}
- public float frontDistance(){
- return frontUltra;
+ public boolean frontDistance(){
+ return frontUltra<DANGER_DISTANCE_FRONT;
}
@Override
public void handleMessage(String m) {
- LCDPrinter.print("Sensor: " + Character.toString(m.charAt(0)) + " with value: " + m.substring(1));
String s = m.substring(1);
switch(RemoteSensors.RemoteSensorEnum.values()[Integer.valueOf(Character.toString(m.charAt(0)))]){
case COLOR:
'Collected at least' colors+=Color+ |
'Touched on' touch=LeftRight |
'Light on' light=LeftRight |
- 'No object in sight on ' dist=BackFront |
+ 'Distance dangerous at ' dist=BackFront |
'Color is' color=Color;
Behaviour: 'Behaviour' name=ID
Direction: d=DirectionE;
enum DirectionE: BACKWARDS = 'backward' | FORWARDS = 'forward';
Operator: d=OperatorE;
-enum OperatorE: AND = 'and' | OR = 'or';
+enum OperatorE: AND = '&&' | OR = '||';
BackFront: d=BackFrontE;
enum BackFrontE: BACK = 'back' | FRONT = 'front';
-Comparison: d=ComparisonE;
-enum ComparisonE: GE='>' | LE='<';
LeftRight: d=LeftRightE;
enum LeftRightE: LEFT='left' | RIGHT='right';
Color: d=ColorE;
for(Behaviour b : root.behaviour){
fsa.generateFile("nl/ru/des/" + b.name + "Behaviour.java", makeBehaviour(b));
}
- //fsa.generateFile("nl/ru/des/Missions.java", makeMissions(root.mission));
+ fsa.generateFile("nl/ru/des/Missions.java", makeMissions(root.mission));
}
}
- def CharSequence makeMissions(EList<Mission> list)'''
+ def CharSequence makeMissions(EList<Mission> mission)'''
package nl.ru.des;
import java.util.LinkedList;
-import lejos.hardware.motor.EV3LargeRegulatedMotor;
import lejos.robotics.subsumption.Behavior;
-import nl.ru.des.Behaviours;
+import lejos.robotics.RegulatedMotor;
+
+import nl.ru.des.sensors.SensorCollector;
public class Missions{
- public static LinkedList<Mission> getMissions(SensorCollector sensors, EV3LargeRegulatedMotor rightMotor,
- EV3LargeRegulatedMotor leftMotor, ColorMemory colors){
+ public static LinkedList<Mission> getMissions(final SensorCollector sensors, RegulatedMotor rightMotor,
+ RegulatedMotor leftMotor, RegulatedMotor measMotor){
LinkedList<Mission> missions = new LinkedList<Mission>();
- «FOR m : list»
+ «FOR m : mission»
missions.add(new Mission("«m.name»", new Behavior[]{
- «FOR b : m.behaviours SEPARATOR ","»
- new Behaviours.«b.name»Behaviour(sensors, rightMotor, leftMotor, colors)
- «ENDFOR»,
- new ShutdownBehaviour(sensors, rightMotor, leftMotor, colors){
+ «FOR b : m.behaviours SEPARATOR "," AFTER ","»new «b.name»Behaviour(sensors, rightMotor, leftMotor, measMotor)
+ «ENDFOR»
+ new ShutdownBehaviour(){
@Override public boolean takeControl(){
- return »;
+ return «printExpression(m.se)»;
}
}}
«ENDFOR»));
}
«IF b.tc != null»
@Override public boolean takeControl(){
- return «printExpression(b.tc)»;
- }
+ return !suppressed || «printExpression(b.tc)»;
+ }
«ENDIF»
@Override public void action(){
«a.whichMotor.d.toString()»Motor.«a.moveDir.d.toString()»();
«ELSEIF a.measureWhat != null»
«a.measureWhat.d.toString()»Measure();
+ «ELSEIF a.turnDir != null»
+ «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»){
sensors.collected(new int[]{«FOR c : e.scond.colors SEPARATOR ","»«c.d.ordinal»«ENDFOR»})
«ELSEIF e.scond.touch != null»
sensors.«e.scond.touch.d.toString()»Touch()
+ «ELSEIF e.scond.light != null»
+ sensors.«e.scond.light.d.toString()»Light()
«ELSEIF e.scond.dist != null»
- sensors.distance() «e.scond.dist.d.toString()» «e.scond.dist»
+ sensors.«e.scond.dist.d.toString()»Distance()
«ELSEIF e.scond.color != null»
sensors.color() == «e.scond.color.d.ordinal»
«ENDIF»
«IF e.op.d.equals(OperatorE.AND)»
«FOR ex : e.s BEFORE "(" SEPARATOR "&&" AFTER ")"»«printExpression(ex)»«ENDFOR»
«ELSE»
- «FOR ex : e.s BEFORE "(" SEPARATOR "&&" AFTER ")"»«printExpression(ex)»«ENDFOR»
+ «FOR ex : e.s BEFORE "(" SEPARATOR "||" AFTER ")"»«printExpression(ex)»«ENDFOR»
«ENDIF»
- «ENDIF»
- '''
+ «ENDIF»'''
}
\ No newline at end of file
repositories / des2015.git / commitdiff