Added robotv1 and v2

lesson9/Robowar_v1/RoboWar.java

+import lejos.nxt.Button;
+import lejos.nxt.LCD;
+import lejos.nxt.LightSensor;
+import lejos.nxt.Motor;
+import lejos.nxt.SensorPort;
+import lejos.nxt.UltrasonicSensor;
+
+public class RoboWar {
+
+	public static void main(String[] args) {
+		Motor.A.setSpeed(800);
+		Motor.B.setSpeed(2000);
+		Motor.C.setSpeed(800);
+
+		lejos.robotics.subsumption.Behavior b1 = new Spin();
+		lejos.robotics.subsumption.Behavior b2 = new AvoidWhiteLine();
+		lejos.robotics.subsumption.Behavior b3 = new Attack();
+		lejos.robotics.subsumption.Behavior b4 = new Exit();
+
+		lejos.robotics.subsumption.Behavior[] behaviorList = { b1, b3, b2, b4 };
+		lejos.robotics.subsumption.Arbitrator arb = new lejos.robotics.subsumption.Arbitrator(behaviorList);
+
+		LCD.drawString("Start War !", 0, 3);
+		
+		Button.waitForAnyPress();
+		try {
+			Thread.sleep(3000);
+		} catch (InterruptedException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+		}
+		Motor.B.backward();
+		arb.start();
+	}
+}
+
+class Spin implements lejos.robotics.subsumption.Behavior {
+	private boolean _suppressed = false;
+
+	@Override
+	public boolean takeControl() {
+		return true;
+	}
+
+	@Override
+	public void action() {
+		LCD.drawString("Spin", 0, 3);
+		_suppressed = false;
+		Motor.A.setSpeed(300);
+		Motor.C.setSpeed(300);
+		
+		Motor.A.forward();
+		Motor.C.backward();
+
+		while (!_suppressed) {
+			Thread.yield(); // don't exit till suppressed
+		}
+		
+		Motor.A.stop();
+		Motor.C.stop();
+		Motor.A.setSpeed(800);
+		Motor.C.setSpeed(800);
+	}
+
+	@Override
+	public void suppress() {
+		_suppressed = true;
+	}
+
+}
+
+class AvoidWhiteLine implements lejos.robotics.subsumption.Behavior {
+	private LightSensor rightLight = new LightSensor(SensorPort.S3);
+	private LightSensor leftLight = new LightSensor(SensorPort.S2);
+
+	private boolean _suppressed = false;
+
+	@Override
+	public boolean takeControl() {
+		return rightLight.readValue() > 40 || leftLight.readValue() > 40;
+	}
+
+	@Override
+	public void action() {
+		_suppressed = false;
+
+		// Backward for 1000 msec
+		LCD.drawString("Drive backward", 0, 3);
+		Motor.A.backward();
+		Motor.C.backward();
+		long now = System.currentTimeMillis();
+		while (!_suppressed && (System.currentTimeMillis() < now + 500)) {
+			Thread.yield(); // don't exit till suppressed
+		}		
+	}
+
+	@Override
+	public void suppress() {
+		_suppressed = true;
+	}
+}
+
+class Attack extends Thread implements lejos.robotics.subsumption.Behavior {
+	UltrasonicSensor sonar = new UltrasonicSensor(SensorPort.S1);
+	private int distance = 255;
+	private boolean _suppressed = false;
+
+	private Thread sonicThread = new Thread() {
+		public void run() {
+			while (true) {
+				distance = sonar.getDistance();
+				try {
+					Thread.sleep(20);
+				} catch (InterruptedException e) {
+					// TODO Auto-generated catch block
+					e.printStackTrace();
+				}
+			}
+		}
+	};
+	
+	public Attack() {
+		sonicThread.start();
+	}
+
+	@Override
+	public boolean takeControl() {
+		LCD.drawInt(distance, 3, 0, 1);
+		return distance < 60;
+	}
+
+	@Override
+	public void action() {
+		LCD.drawString("Drive forward", 0, 3);
+		
+		_suppressed = false;
+		Motor.A.forward();
+		Motor.C.forward();
+
+		while (!_suppressed) {
+			Thread.yield(); // don't exit till suppressed
+		}
+
+		Motor.A.stop();
+		Motor.C.stop();
+	}
+
+	@Override
+	public void suppress() {
+		_suppressed = true;
+	}
+
+}
+
+class Exit implements lejos.robotics.subsumption.Behavior {
+	private boolean _suppressed = false;
+
+	public boolean takeControl() {
+		return Button.ESCAPE.isDown();
+	}
+
+	public void suppress() {
+		_suppressed = true;// standard practice for suppress methods
+	}
+
+	public void action() {
+		System.exit(0);
+	}
+}