final push

diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
index 1dc70fd..f7e3697 100644 (file)
--- a/dsl/runtime/specs/wander.tdsl
+++ b/dsl/runtime/specs/wander.tdsl
@@ -39,19 +39,19 @@ Behaviour StayInFieldB
                wait 1000 ms
                
 Behaviour GreenLake
-       take control: (&& Color is Green not flag set GreenMeasured)
+       take control: (&& (|| Color is Green Color is Yellow) not flag set GreenLake)
        action:
                measure Lake
                set flag GreenLake
                
 Behaviour BlueLake
-       take control: (&& Color is Blue not flag set BlueMeasured)
+       take control: (&& Color is Blue not flag set BlueLake)
        action:
                measure Lake
                set flag BlueLake
                
 Behaviour RedLake
-       take control: (&& Color is Red not flag set RedMeasured)
+       take control: (&& Color is Red not flag set RedLake)
        action:
                measure Lake
                set flag RedLake
@@ -61,18 +61,30 @@ Behaviour MeasureRock
        action:
                measure Rock
                set flag Measured
+       
+Behaviour AvoidL
+       take control: Touched on left
+       action:
+               left motor forward
+               right motor backward
+               
+Behaviour AvoidR
+       take control: Touched on right
+       action:
+               right motor forward
+               left motor backward
                                
 Behaviour PushL
        take control: Touched on left
        action:
                right motor forward
-               left motor backward
+               left motor forward with speed 50 acceleration 1000
                
 Behaviour PushR
        take control: Touched on right
        action:
                left motor forward
-               right motor backward
+               right motor forward with speed 50 acceleration 1000
 
 Behaviour PushB
        take control: (&& Touched on left Touched on right)
@@ -85,23 +97,33 @@ Behaviour PushB
 Behaviour StopPushing
        take control: (&& not Touched on left not Touched on right flag set Pushing)
        action:
+               left motor backward
+               right motor backward
+               wait 1000ms
+               turn left exactly 180 degrees
                set flag Pushed
                
 Behaviour FoundLineL
-       take control: Light on left
+       take control: (&& (|| not flag set LeftLine not flag set RightLine) Light on left not Light on right Color is Black)
        action:
+               left motor backward with speed 75 acceleration 1000
+               right motor backward with speed 75 acceleration 1000
+               wait 1000 ms
                set flag LeftLine
 
 Behaviour FoundLineR
-       take control: Light on right
+       take control: (&& (|| not flag set LeftLine not flag set RightLine) Light on right not Light on left Color is Black)
        action:
+               left motor backward with speed 75 acceleration 1000
+               right motor backward with speed 75 acceleration 1000
+               wait 1000 ms
                set flag RightLine
                
 Behaviour FollowLGood
        take control: (&& flag set LeftLine Light on left)
        action:
                left motor forward with speed 75 acceleration 1000
-               right motor backward with speed 50 acceleration 1000
+               right motor backward with speed 60 acceleration 1000
 
 Behaviour FollowLBad
        take control: (&& flag set LeftLine not Light on left)
@@ -113,7 +135,7 @@ Behaviour FollowRGood
        take control: (&& flag set RightLine Light on right)
        action:
                right motor forward with speed 75 acceleration 1000
-               left motor backward with speed 50 acceleration 1000
+               left motor backward with speed 60 acceleration 1000
 
 Behaviour FollowRBad
        take control: (&& flag set RightLine not Light on right)
@@ -122,20 +144,19 @@ Behaviour FollowRBad
                left motor forward with speed 100 acceleration 1000
                
 Behaviour FoundParkingSpace
-       take control: (&& (|| flag set LeftLine flag set RightLine) Color is White)// (|| Light on left Light on right))
+       take control: (&& (|| flag set LeftLine flag set RightLine) Color is White)
        action:
                set flag Parked
                
-               /*
-Mission FindAndMeasureLakes
-       using Wander StayInFieldR StayInFieldL StayInFieldB GreenLake RedLake BlueLake 
-       and stops when (&& flag set GreenLake flag set RedLake flag set BlueLake)
 Mission FindAndMeasureRocks
-       using Wander StayInFieldR StayInFieldL StayInFieldB MeasureRock
+       using Drive StayInFieldR StayInFieldL StayInFieldB AvoidL AvoidR MeasureRock
        and stops when flag set Measured
+Mission FindAndMeasureLakes
+       using Drive StayInFieldR StayInFieldL StayInFieldB AvoidL AvoidR GreenLake RedLake BlueLake 
+       and stops when (&& flag set GreenLake flag set RedLake flag set BlueLake)
 Mission PushRocks
-       using Wander PushL PushR PushB StopPushing StayInFieldR StayInFieldL StayInFieldB
-       and stops when flag set Pushed*/
+       using Drive PushL PushR PushB StayInFieldR StayInFieldL StayInFieldB StopPushing
+       and stops when flag set Pushed
 Mission Park
-       using Drive FoundLineL FoundLineR FollowLBad FollowLGood FollowRBad FollowRGood FoundParkingSpace
+       using Drive FoundLineL FoundLineR FollowLBad FollowLGood FollowRBad FollowRGood StayInFieldB FoundParkingSpace
        and stops when flag set Parked
\ No newline at end of file

diff --git a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
index b5d4bc1..945a709 100644 (file)
--- a/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
+++ b/dsl/runtime/src/nl/ru/des/BasicBehaviour.java
@@ -45,32 +45,38 @@ public abstract class BasicBehaviour implements Behavior{
                rightMotor.setSpeed(25);
                leftMotor.setSpeed(25);
                if(sensors.leftLight() && !sensors.rightLight()){
-                       leftTurn(15);
+                       leftTurn(10);
                } else if (sensors.rightLight() && !sensors.leftLight()){
-                       rightTurn(15);
+                       rightTurn(10);
                }
                
                rightMotor.stop(true);
                leftMotor.stop(true);
                
-               measMotor.backward();
-               while(!suppressed && !measMotor.isStalled()){
+               measMotor.rotate(-100, true);
+               while(!suppressed && !measMotor.isStalled() && measMotor.isMoving()){
                        Thread.yield();
                }
-               measMotor.forward();
-               while(!suppressed && !measMotor.isStalled()){
+               measMotor.rotate(100, true);
+               while(!suppressed && !measMotor.isStalled() && measMotor.isMoving()){
                        Thread.yield();
                }
                measMotor.stop(true);
                
-               turnRandom(30, 45);
+               reset();
+               rightMotor.backward();
+               leftMotor.backward();
+               while(System.currentTimeMillis()-time < 250){
+                       Thread.yield();
+               }
+               turnRandom(45, 60);
        }
        
        protected void measureRock(){
                long time = System.currentTimeMillis();
                rightMotor.forward();
                leftMotor.forward();
-               while(System.currentTimeMillis()-time<1500){
+               while(System.currentTimeMillis()-time<1000){
                        Thread.yield();
                }
                
@@ -87,6 +93,11 @@ public abstract class BasicBehaviour implements Behavior{
                }
                measMotor.stop(true);
                
+               rightMotor.backward();
+               leftMotor.backward();
+               while(System.currentTimeMillis()-time<1000){
+                       Thread.yield();
+               }
                turnRandom(30, 45);
        }
        

diff --git a/dsl/runtime/src/nl/ru/des/Marster.java b/dsl/runtime/src/nl/ru/des/Marster.java
index 16dd328..a5c47c7 100644 (file)
--- a/dsl/runtime/src/nl/ru/des/Marster.java
+++ b/dsl/runtime/src/nl/ru/des/Marster.java
@@ -1,10 +1,10 @@
 package nl.ru.des;
 
+import java.io.File;
 import java.io.PrintStream;
 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;
@@ -20,6 +20,7 @@ import lejos.hardware.sensor.EV3UltrasonicSensor;
 import lejos.hardware.sensor.NXTLightSensor;
 import lejos.robotics.RegulatedMotor;
 import lejos.robotics.SampleProvider;
+import lejos.utility.Delay;
 import nl.ru.des.sensors.BTController;
 import nl.ru.des.sensors.RemoteSensors;
 import nl.ru.des.sensors.SensorCollector;
@@ -28,6 +29,44 @@ public class Marster {
        public static Arbitrator arb;
        public static Random random;
        
+       public static void playPacman(){
+               int whole = 2000;
+               Sound.playNote(Sound.PIANO, 494, whole/16);// b4
+               Sound.playNote(Sound.PIANO, 988, whole/16);// b5
+               Sound.playNote(Sound.PIANO, 740, whole/16);// f#5
+               Sound.playNote(Sound.PIANO, 622, whole/16);// eb5
+               Sound.playNote(Sound.PIANO, 988, whole/32);// b5
+               Sound.playNote(Sound.PIANO, 740, whole/16+whole/32);// f#5
+               Sound.playNote(Sound.PIANO, 622, whole/8);// eb5
+               
+               Sound.playNote(Sound.PIANO, 523, whole/16);// c5
+               Sound.playNote(Sound.PIANO, 1047, whole/16);// c6
+               Sound.playNote(Sound.PIANO, 784, whole/16);// g5
+               Sound.playNote(Sound.PIANO, 659, whole/16);// e5
+               Sound.playNote(Sound.PIANO, 1047, whole/32);// c6
+               Sound.playNote(Sound.PIANO, 784, whole/16+whole/32);// g5
+               Sound.playNote(Sound.PIANO, 659, whole/8);// e5
+               
+               Sound.playNote(Sound.PIANO, 494, whole/16);// b4
+               Sound.playNote(Sound.PIANO, 988, whole/16);// b5
+               Sound.playNote(Sound.PIANO, 740, whole/16);// f#5
+               Sound.playNote(Sound.PIANO, 622, whole/16);// eb5
+               Sound.playNote(Sound.PIANO, 988, whole/32);// b5
+               Sound.playNote(Sound.PIANO, 740, whole/16+whole/32);// f#5
+               Sound.playNote(Sound.PIANO, 622, whole/8);// eb5
+               
+               Sound.playNote(Sound.PIANO, 622, whole/32);// eb5
+               Sound.playNote(Sound.PIANO, 659, whole/32);// e5
+               Sound.playNote(Sound.PIANO, 698, whole/16);// f5
+               Sound.playNote(Sound.PIANO, 698, whole/32);// f5
+               Sound.playNote(Sound.PIANO, 740, whole/32);// f#5
+               Sound.playNote(Sound.PIANO, 784, whole/16);// g5
+               Sound.playNote(Sound.PIANO, 784, whole/32);// g5
+               Sound.playNote(Sound.PIANO, 831, whole/32);// ab5
+               Sound.playNote(Sound.PIANO, 880, whole/16);// a5
+               Sound.playNote(Sound.PIANO, 988, whole/8);// b5
+       }
+       
        @SuppressWarnings("resource")
        public static void main(String[] args) {
                EV3 brick = LocalEV3.get();
@@ -37,7 +76,6 @@ public class Marster {
                
                System.out.println("Loading keylistener...");
                brick.getKey("Escape").addKeyListener(new ButtonListener());
-
                if(brick.getName().equalsIgnoreCase("Rover6") || brick.getName().equalsIgnoreCase("Rover8")){
                        System.out.println("Starting as a slave...");
                        System.out.println("My name is " + brick.getName());
@@ -89,16 +127,18 @@ public class Marster {
                        sc.calibrate();
                        LinkedList<Mission> missions = Missions.getMissions(sc, rightMotor, leftMotor, measMotor);
                        random = new Random();
-                       System.out.println("Press any button to start");
-                       Button.waitForAnyEvent();
+                       Delay.msDelay(2000);
+                       playPacman();
                        for(Mission m : missions){
                                System.out.println("Start " + m.name + " mission...");
                                arb = new Arbitrator(m.behaviours);
                                sc.reset();
                                arb.start();
                                Sound.buzz();
+                               Delay.msDelay(5000);
                                System.out.println(m.name + " finished!!1one!");
                        }
+                       Sound.playSample(new File("rick.wav"), Sound.VOL_MAX);
                        System.exit(0);
                }
        }

diff --git a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
index 16aa0e6..1df66c0 100644 (file)
--- a/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
+++ b/dsl/xtend/src/robots/missions/generator/TaskDSLGenerator.xtend
@@ -38,6 +38,7 @@ import java.util.LinkedList;
 
 import lejos.robotics.subsumption.Behavior;
 import lejos.robotics.RegulatedMotor;
+import lejos.robotics.Color;
 
 import nl.ru.des.sensors.SensorCollector;
 
@@ -64,6 +65,7 @@ public class Missions{
 package nl.ru.des;
 
 import lejos.robotics.RegulatedMotor;
+import lejos.robotics.Color;
 import nl.ru.des.sensors.SensorCollector;
 
 public class «b.name»Behaviour extends BasicBehaviour {
@@ -136,7 +138,7 @@ public class Constants{
                «ELSEIF e.scond.dist != null»
                sensors.«e.scond.dist.d.toString()»Distance()
                «ELSEIF e.scond.color != null»
-               sensors.color() == «e.scond.color.d.ordinal»
+               sensors.color() == Color.«e.scond.color.d.getName()»
                «ELSE»
                false
                «ENDIF»

diff --git a/marsrover/rick.wav b/marsrover/rick.wav
new file mode 100644 (file)
index 0000000..9e46ce1
Binary files /dev/null and b/marsrover/rick.wav differ