1 package nl
.ru
.des
.sensors
;
3 import lejos
.hardware
.lcd
.LCD
;
4 import lejos
.robotics
.SampleProvider
;
5 import lejos
.utility
.Delay
;
7 public class SensorCollector
implements MessageHandler
{
8 public static final int DELAY
= 100;
10 private static final float DANGER_DISTANCE_FRONT
= 0.15f
;
11 private static final float DANGER_DISTANCE_BACK
= 0.035f
;
12 private static final float DANGER_LIGHT
= 0.45f
;
15 private SampleProvider ultra
, leftLight
, rightLight
, gyro
;
16 private float[] ultraSamples
, leftLightSamples
, rightLightSamples
, gyroSamples
;
17 private long ultraTime
, leftLightTime
, rightLightTime
, gyroTime
;
21 private boolean leftTouch
, rightTouch
;
22 private float frontUltra
;
24 public SensorCollector(SampleProvider ultra
,
25 SampleProvider leftLight
,
26 SampleProvider rightLight
,
29 this.leftLight
= leftLight
;
30 this.rightLight
= rightLight
;
32 ultraSamples
= new float[ultra
.sampleSize()];
33 gyroSamples
= new float[gyro
.sampleSize()];
34 leftLightSamples
= new float[leftLight
.sampleSize()];
35 rightLightSamples
= new float[rightLight
.sampleSize()];
36 ultraTime
= System
.currentTimeMillis();
37 leftLightTime
= System
.currentTimeMillis();
38 rightLightTime
= System
.currentTimeMillis();
39 gyroTime
= System
.currentTimeMillis();
44 @Override public void run(){
46 ultra
.fetchSample(ultraSamples
, 0);
47 leftLight
.fetchSample(leftLightSamples
, 0);
48 rightLight
.fetchSample(rightLightSamples
, 0);
49 LCD
.drawString("back: " + Float
.toString(ultraSamples
[0]), 0, 1);
50 LCD
.drawString("front: " + Float
.toString(frontUltra
), 0, 2);
51 LCD
.drawString("left: " + Float
.toString(leftLightSamples
[0]), 0, 3);
52 LCD
.drawString("right: " + Float
.toString(rightLightSamples
[0]), 0, 4);
60 public boolean backDistance(){
61 if(System
.currentTimeMillis()-ultraTime
>DELAY
){
62 ultra
.fetchSample(ultraSamples
, 0);
63 ultraTime
= System
.currentTimeMillis();
65 return ultraSamples
[0]>DANGER_DISTANCE_BACK
;
68 public boolean leftLight(){
69 if(System
.currentTimeMillis()-leftLightTime
>DELAY
){
70 leftLight
.fetchSample(leftLightSamples
, 0);
71 leftLightTime
= System
.currentTimeMillis();
73 return leftLightSamples
[0]>DANGER_LIGHT
;
76 public boolean rightLight(){
77 if(System
.currentTimeMillis()-rightLightTime
>DELAY
){
78 rightLight
.fetchSample(rightLightSamples
, 0);
79 rightLightTime
= System
.currentTimeMillis();
81 return rightLightSamples
[0]>DANGER_LIGHT
;
85 if(System
.currentTimeMillis()-gyroTime
>DELAY
){
86 gyro
.fetchSample(gyroSamples
, 0);
87 gyroTime
= System
.currentTimeMillis();
89 return gyroSamples
[0];
93 public boolean collected(int[] colors
){
101 public boolean leftTouch(){
105 public boolean rightTouch(){
109 public boolean frontDistance(){
110 return frontUltra
<DANGER_DISTANCE_FRONT
;
114 public void handleMessage(String m
) {
115 String s
= m
.substring(1);
116 switch(RemoteSensors
.RemoteSensorEnum
.values()[Integer
.valueOf(Character
.toString(m
.charAt(0)))]){
118 color
= Integer
.valueOf(s
);
121 leftTouch
= Integer
.valueOf(s
)==1;
124 rightTouch
= Integer
.valueOf(s
)==1;
127 frontUltra
= Float
.valueOf(s
);