Behavior Programming

Structured Programming

• A series of if-thens

• Easy to get started in and hardly requires any thought or design beforehand

• But the code ends up as spaghetti code

MMN Lab.

Behavior programming

• Requires a little more planning before coding

• Each behavior is nicely encapsulated within an easy to understand structure

• Very easy to add or remove specific behaviors

MMN Lab.

The Behavior API

• Only one interface and one class– Behavior interface– Arbitrator class

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Behavior Interface

• API– boolean takeControl()

• Returns a boolean value to indicate if this behavior should become active

– void action()• Initiates an action when the behavior becomes acti

ve

– void suppress()• Immediately terminate the code running in the acti

on() method

MMN Lab.

Arbitrator

• Constructor– public Arbitrator(Behavior [] behaviors)

• Higher index has the higher priority

• Method:– public void start();

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Coding Behaviors

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Coding Behaviors cont’d

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Coding Behaviors cont’d

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Coding Behaviors cont’d

• Add a new behavior

MMN Lab.

Coding Behaviors cont’d

• Add the new behavior to the Arbitrator

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Sensor Listener

MMN Lab.

Lab6

• Based on the sample code, design the following behaviors with proper priorities

• DriveForward (included in sample code)• HitWall (included in sample code)• Turn 360 degree by triggering ultrasonic sensor• Play music by triggering sound sensor• DoStop (included in sample code)

MMN Lab.

Low

High

Priorit

y

Lab6

• Hint:– You can use SensorListener for more accurat

e sensor action – Add delay if the program starts in the unexpec

ted way

MMN Lab.