public void run() {
while (more) {
// System.out.println("call V");
MyArbitrator.objects = Launcher.findObjects();
// System.out.println(" Arbit ball "+
// MyArbitrator.objects[2].getCentre().x+","+MyArbitrator.objects[2].getCentre().y);
// System.out.println("ball " + MyArbitrator.objects[2].getCentre().x);
visCall++;
// System.out.println("Vision Called" + visCall);
// System.out.println(" mon while" + monitorw);
// ObjectItem[] objects = Launcher.findObjects();
// System.out.println("call V");
// FIND HIGHEST PRIORITY behaviour THAT WANTS CONTROL
synchronized (this) {
_highestPriority = NONE;
for (int i = maxPriority; i >= 0; i--) {
if (MyArbitrator._behaviour[i].takeControl(MyArbitrator.objects)) {
_highestPriority = i;
break;
}
}
int active = _active; // local copy: avoid out of bounds error in 134
if (active != NONE && _highestPriority > active) {
MyArbitrator._behaviour[active].suppress();
}
} // end synchronize block - main thread can run now
Thread.yield();
}
}
