left motor forward
right motor forward
wait forever
+
Behaviour Wander
take control:
action:
right motor forward
wait 1000 ms
-Behaviour MeasureGreenLake
+Behaviour GreenLake
take control: (&& Color is Green not flag set GreenMeasured)
action:
measure Lake
- set flag GreenMeasured
-Behaviour MeasureBlueLake
+ set flag GreenLake
+
+Behaviour BlueLake
take control: (&& Color is Blue not flag set BlueMeasured)
action:
measure Lake
- set flag BlueMeasured
-Behaviour MeasureRedLake
+ set flag BlueLake
+
+Behaviour RedLake
take control: (&& Color is Red not flag set RedMeasured)
action:
measure Lake
- set flag RedMeasured
+ set flag RedLake
-Behaviour LocateL
+Behaviour MeasureRock
+ take control: (&& Distance dangerous at front not flag set Measured)
+ action:
+ measure Rock
+ set flag Measured
+
+Behaviour PushL
take control: Touched on left
action:
right motor forward
left motor backward
- wait 500 ms
+ /*wait 500 ms
right motor forward
left motor forward
- wait 1000 ms
+ wait 500ms*/
-Behaviour LocateR
+Behaviour PushR
take control: Touched on right
action:
left motor forward
right motor backward
- wait 500 ms
+ /*wait 500 ms
right motor forward
left motor forward
- wait 1000 ms
+ wait 1000 ms*/
-Behaviour Push
+Behaviour PushB
take control: (&& Touched on left Touched on right)
action:
+ set flag Pushing
left motor forward
right motor forward
- wait 1000 ms
-
-Behaviour BumpL
- take control: Touched on left
- action:
- left motor backward with speed 50 acceleration 1000
- right motor backward
- wait 2000 ms
-
-Behaviour BumpR
- take control: Touched on right
- action:
- right motor backward with speed 50 acceleration 1000
- left motor backward
- wait 2000 ms
-
-Behaviour AvoidHigh
- take control: Distance dangerous at front
- action:
- turn randomly 10 to 11 degrees
+ wait 10000 ms
-Behaviour MeasureRock
- take control: (&& Distance dangerous at front not flag set RockMeasured)
+Behaviour StopPushing
+ take control: (&& not Touched on left not Touched on right flag set Pushing)
action:
- measure Rock
- set flag RockMeasured
-
-Behaviour FindParkingL
- take control: Light on left
- action:
- turn left exactly 10 degrees with speed 20 acceleration 1000
-
-Behaviour FindParkingR
- take control: Light on right
- action:
- turn right exactly 10 degrees with speed 20 acceleration 1000
-
-Behaviour FindParkingSpace
- take control: (&& Light on right Light on left)
- action:
- right motor backward with speed 80 acceleration 1000
- left motor backward with speed 80 acceleration 1000
- wait 1000 ms
- turn right exactly 180 degrees
- set flag Parked
+ set flag Pushed
+
+/*Mission FindAndMeasureLakes
+ using Wander StayInFieldR StayInFieldL StayInFieldB GreenLake RedLake BlueLake
+ and stops when (&& flag set GreenLake flag set RedLake flag set BlueLake)
-//Mission pushRock
-// using Drive LocateR LocateL Push StayInFieldB StayInFieldL StayInFieldR and stops when Never
-//Mission avoidHighRocks
-// using Drive AvoidHigh BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Never
-Mission MeasureRocks
- using Drive StayInFieldB StayInFieldL StayInFieldR MeasureRock and stops when flag set RockMeasured
-Mission FindParkingSpaceInTheCorner
- using Wander StayInFieldB FindParkingL FindParkingR FindParkingSpace and stops when flag set Parked
-//Mission measureLakes
-// using Drive MeasureRedLake MeasureGreenLake MeasureBlueLake and stops when (&& flag set GreenMeasured flag set BlueMeasured flag set RedMeasured)
-//Mission findBlueLakeWhileAvoidingRocks
-// using Wander BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Color is Blue
-//Mission findAllLakesAndMeasureThem
-// using Wander MeasureLake StayInFieldB StayInFieldL StayInFieldR and stops when Collected at least Green Blue Red
-//Mission justWander
-// using Wander Wander StayInFieldB StayInFieldL StayInFieldR and stops when Color is Cyan
\ No newline at end of file
+Mission FindAndMeasureRocks
+ using Wander StayInFieldR StayInFieldL StayInFieldB MeasureRock
+ and stops when flag set Measured */
+Mission PushRocks
+ using Wander PushL PushR PushB StopPushing StayInFieldR StayInFieldL StayInFieldB
+ and stops when flag set Pushed
\ No newline at end of file
leftMotor.setAcceleration(Constants.acceleration);
rightMotor.stop(true);
leftMotor.stop(true);
+ measMotor.stop(true);
}
protected void measureLake(){
long time = System.currentTimeMillis();
rightMotor.backward();
leftMotor.backward();
- while(System.currentTimeMillis()-time<500){
+ while(System.currentTimeMillis()-time < 250){
Thread.yield();
}
package nl.ru.des;
-import java.io.File;
-import java.io.FileOutputStream;
-import java.io.IOException;
-import java.io.InputStream;
import java.util.LinkedList;
import java.util.Random;
+import lejos.hardware.Button;
import lejos.hardware.Sound;
import lejos.hardware.ev3.EV3;
import lejos.hardware.ev3.LocalEV3;
RemoteSensors rs = new RemoteSensors(leftTouch, rightTouch, frontUltra, color);
BTController.startSlave();
- rs.start(BTController.buf);
+ try {
+ rs.start(BTController.buf);
+ } catch (Exception e){
+ System.exit(0);
+ }
} else {
-// try {
-// InputStream inp = Marster.class.getResourceAsStream("nl/ru/des/sound/rick.wav");
-// FileOutputStream out = new FileOutputStream("rick.wav");
-// byte buffer[] = new byte[2048];
-// while(inp.read(buffer)>0){
-// out.write(buffer);
-// }
-// inp.close();
-// out.close();
-// } catch (IOException e) {
-// e.printStackTrace();
-// }
String slave = brick.getName().equalsIgnoreCase("Rover5") ? "Rover6" : "Rover8";
LCDPrinter.print("Starting as as master...");
LCDPrinter.print("My name is " + brick.getName());
BTController.startMaster(slave, sc);
LCDPrinter.print("Finished loading");
+ sc.calibrate();
LinkedList<Mission> missions = Missions.getMissions(sc, rightMotor, leftMotor, measMotor);
random = new Random();
+ LCDPrinter.print("Press any button to start");
+ Button.waitForAnyEvent();
for(Mission m : missions){
LCDPrinter.print("Start " + m.name + " mission...");
arb = new Arbitrator(m.behaviours);
sc.reset();
+ Sound.buzz();
arb.start();
LCDPrinter.print(m.name + " finished!!1one!");
}
-// Sound.playSample(new File("rick.wav"));
+ System.exit(0);
}
}
}
\ No newline at end of file
try {
dataOut.write(buf.poll().getBytes());
dataOut.flush();
- } catch (IOException e) {
+ } catch (Exception e) {
e.printStackTrace();
+ System.exit(0);
}
}
Thread.yield();
import java.util.HashSet;
import java.util.Set;
+import lejos.hardware.Button;
import lejos.hardware.sensor.EV3GyroSensor;
import lejos.robotics.SampleProvider;
+import lejos.utility.Delay;
+import nl.ru.des.LCDPrinter;
public class SensorCollector implements MessageHandler{
public static final int DELAY = 200;
- private static final float DANGER_DISTANCE_FRONT = 0.175f;
- private static final float DANGER_DISTANCE_BACK = 0.035f;
- private static final float DANGER_LIGHT = 0.40f;
+ private float DANGER_DISTANCE_FRONT = 0.175f;
+ private float DANGER_DISTANCE_BACK = 0.035f;
+ private float DANGER_LIGHT = 0.40f;
private Set<String> variables;
gyroSamples = new float[gyro.sampleSize()];
leftLightSamples = new float[leftLight.sampleSize()];
rightLightSamples = new float[rightLight.sampleSize()];
+
ultraTime = System.currentTimeMillis();
leftLightTime = System.currentTimeMillis();
rightLightTime = System.currentTimeMillis();
variables = new HashSet<String>();
}
+
+ public void calibrate() {
+ LCDPrinter.print("Put left light on Blue");
+ Button.waitForAnyEvent();
+ leftLight();
+ DANGER_LIGHT = leftLightSamples[0];
+ LCDPrinter.print("Light limit: " + Float.toString(DANGER_LIGHT));
+
+ Delay.msDelay(350);
+ LCDPrinter.print("Put left light on Black");
+ Button.waitForAnyEvent();
+ leftLight();
+ DANGER_LIGHT = (leftLightSamples[0]+DANGER_LIGHT)/2.0f;
+ LCDPrinter.print("Light limit: " + Float.toString(DANGER_LIGHT));
+
+ Delay.msDelay(350);
+ LCDPrinter.print("Place back ultra safe");
+ Button.waitForAnyEvent();
+ backDistance();
+ DANGER_DISTANCE_BACK = ultraSamples[0] + 0.05f;
+ LCDPrinter.print("Back ultra limit: " + Float.toString(DANGER_DISTANCE_BACK));
+
+ Delay.msDelay(350);
+ LCDPrinter.print("Place front ultra in danger");
+ Button.waitForAnyEvent();
+ DANGER_DISTANCE_FRONT = frontUltra;
+ LCDPrinter.print("Calibration done");
+ LCDPrinter.print("Front ultra limit: " + Float.toString(DANGER_DISTANCE_FRONT));
+ }
+
//Local sensors
public boolean backDistance(){
if(System.currentTimeMillis()-ultraTime>DELAY){
«ELSEIF a.rl != null»
measure«a.rl.d.toString()»();
«ELSE»
- sensors.saveVar("«a.varName.toString()»");
+ if(!suppressed){
+ sensors.saveVar("«a.varName.toString()»");
+ }
«ENDIF»
«ENDFOR»
LCDPrinter.print("Stop: «b.name»");
repositories / des2015.git / commitdiff