dsl/runtime/src/nl/ru/des/SensorCollector.java

   1 package nl.ru.des;
   2
   3 import lejos.robotics.SampleProvider;
   4
   5 public class SensorCollector{
   6         public static final int DELAY = 50;
   7
   8         private SampleProvider ultrasone, color, leftTouch, rightTouch;
   9         private float[] ultrasoneSamples, colorSamples, leftTouchSamples, rightTouchSamples;
  10         private long ultrasoneTime, colorTime, leftTouchTime, rightTouchTime;
  11
  12         public SensorCollector(SampleProvider ultrasone,
  13                         SampleProvider color,
  14                         SampleProvider leftTouch,
  15                         SampleProvider rightTouch){
  16                 this.ultrasone = ultrasone;
  17                 this.color = color;
  18                 this.leftTouch = leftTouch;
  19                 this.rightTouch = rightTouch;
  20                 ultrasoneSamples = new float[ultrasone.sampleSize()];
  21                 colorSamples = new float[color.sampleSize()];
  22                 leftTouchSamples = new float[leftTouch.sampleSize()];
  23                 rightTouchSamples = new float[rightTouch.sampleSize()];
  24                 ultrasoneTime = System.currentTimeMillis();
  25                 colorTime = System.currentTimeMillis();
  26                 leftTouchTime = System.currentTimeMillis();
  27                 rightTouchTime = System.currentTimeMillis();
  28         }
  29
  30         public float distance(){
  31                 if(System.currentTimeMillis()-ultrasoneTime>DELAY){
  32                         ultrasone.fetchSample(ultrasoneSamples, 0);
  33                         ultrasoneTime = System.currentTimeMillis();
  34                 }
  35                 return ultrasoneSamples[0];
  36         }
  37
  38         public int color(){
  39                 if(System.currentTimeMillis()-colorTime>DELAY){
  40                         color.fetchSample(colorSamples, 0);
  41                         colorTime = System.currentTimeMillis();
  42                 }
  43                 return (int)colorSamples[0];
  44         }
  45
  46         public boolean leftTouch(){
  47                 if(System.currentTimeMillis()-leftTouchTime>DELAY){
  48                         leftTouch.fetchSample(leftTouchSamples, 0);
  49                         leftTouchTime = System.currentTimeMillis();
  50                 }
  51                 return leftTouchSamples[0]==1;
  52         }
  53
  54         public boolean rightTouch(){
  55                 if(System.currentTimeMillis()-rightTouchTime>DELAY){
  56                         rightTouch.fetchSample(rightTouchSamples, 0);
  57                         rightTouchTime = System.currentTimeMillis();
  58                 }
  59                 return rightTouchSamples[0]==1;
  60         }
  61 }