From 16aef029cf49685c60c422d36b54d459355e832c Mon Sep 17 00:00:00 2001
From: Mart Lubbers <mart@martlubbers.net>
Date: Thu, 10 Dec 2015 16:33:10 +0100
Subject: [PATCH] push

---
 dsl/runtime/specs/wander.tdsl                 |  8 ++----
 dsl/runtime/src/nl/ru/des/BasicBehaviour.java | 25 +++++++++++++------
 .../nl/ru/des/sensors/SensorCollector.java    | 17 -------------
 .../missions/generator/TaskDSLGenerator.xtend | 12 ++++++---
 4 files changed, 29 insertions(+), 33 deletions(-)

diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
index 5100e52..a51a064 100644
--- a/dsl/runtime/specs/wander.tdsl
+++ b/dsl/runtime/specs/wander.tdsl
@@ -16,15 +16,11 @@ Behaviour StayInFieldBoth
 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
+		turn right 90 with speed 100 acceleration 10000
 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
+		turn left 90 with speed 100 acceleration 10000
 Behaviour StayInFieldB
 	take control: Distance dangerous at back
 	action:
diff --git a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
index 1d79edd..9b7742b 100644
--- a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
+++ b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
@@ -5,7 +5,7 @@ import lejos.robotics.subsumption.Behavior;
 import nl.ru.des.sensors.SensorCollector;
 
 public abstract class BasicBehaviour implements Behavior{
-	protected boolean suppressed;
+	protected int suppressed;
 	protected RegulatedMotor leftMotor, rightMotor, measMotor;
 	protected SensorCollector sensors;
 	protected long time;
@@ -25,6 +25,7 @@ public abstract class BasicBehaviour implements Behavior{
 		leftMotor.setAcceleration(Constants.acceleration);
 		rightMotor.stop(true);
 		leftMotor.stop(true);
+		suppressed = 0;
 	}
 
 	protected void rockMeasure(){
@@ -36,25 +37,35 @@ public abstract class BasicBehaviour implements Behavior{
 	}
 	
 	protected void rightTurn(int angle){
-		
+		float init = sensors.gyro();
+		rightMotor.backward();
+		leftMotor.forward();
+
+		while(suppressed != 2 && sensors.gyro()-90>init){
+			Thread.yield();
+		}
 	}
 	
 	protected void leftTurn(int angle){
-		
+		float init = sensors.gyro();
+		leftMotor.backward();
+		rightMotor.forward();
+		while(suppressed != 2 && sensors.gyro()+90<init){
+			Thread.yield();
+		}
 	}
 	
 	@Override
 	public void action() {
-		suppressed = false;
+		suppressed = 1;
 	}
 
 	@Override
 	public void suppress() {
-		suppressed = true;
+		suppressed = 2;
 	}
 	
-	@Override
-	public boolean takeControl() {
+	@Override public boolean takeControl(){
 		return true;
 	}
 }
diff --git a/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java b/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
index 29433c1..a9c2048 100644
--- a/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
+++ b/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
@@ -39,23 +39,6 @@ public class SensorCollector implements MessageHandler{
 		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 boolean backDistance(){
 		if(System.currentTimeMillis()-ultraTime>DELAY){
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»
-- 
2.20.1