1 package nl
.ru
.des
.sensors
;
3 import lejos
.hardware
.sensor
.EV3GyroSensor
;
4 import lejos
.robotics
.SampleProvider
;
6 public class SensorCollector
implements MessageHandler
{
7 public static final int DELAY
= 200;
9 private static final float DANGER_DISTANCE_FRONT
= 0.15f
;
10 private static final float DANGER_DISTANCE_BACK
= 0.035f
;
11 private static final float DANGER_LIGHT
= 0.45f
;
14 private EV3GyroSensor gyroSensor
;
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
;
31 this.gyroSensor
= gyro
;
32 this.gyro
= gyro
.getAngleMode();
33 ultraSamples
= new float[ultra
.sampleSize()];
34 gyroSamples
= new float[gyro
.sampleSize()];
35 leftLightSamples
= new float[leftLight
.sampleSize()];
36 rightLightSamples
= new float[rightLight
.sampleSize()];
37 ultraTime
= System
.currentTimeMillis();
38 leftLightTime
= System
.currentTimeMillis();
39 rightLightTime
= System
.currentTimeMillis();
40 gyroTime
= System
.currentTimeMillis();
44 public boolean backDistance(){
45 if(System
.currentTimeMillis()-ultraTime
>DELAY
){
46 ultra
.fetchSample(ultraSamples
, 0);
47 ultraTime
= System
.currentTimeMillis();
49 return ultraSamples
[0]>DANGER_DISTANCE_BACK
;
52 public boolean leftLight(){
53 if(System
.currentTimeMillis()-leftLightTime
>DELAY
){
54 leftLight
.fetchSample(leftLightSamples
, 0);
55 leftLightTime
= System
.currentTimeMillis();
57 return leftLightSamples
[0]>DANGER_LIGHT
;
60 public boolean rightLight(){
61 if(System
.currentTimeMillis()-rightLightTime
>DELAY
){
62 rightLight
.fetchSample(rightLightSamples
, 0);
63 rightLightTime
= System
.currentTimeMillis();
65 return rightLightSamples
[0]>DANGER_LIGHT
;
69 if(System
.currentTimeMillis()-gyroTime
>DELAY
){
70 gyro
.fetchSample(gyroSamples
, 0);
71 gyroTime
= System
.currentTimeMillis();
73 return gyroSamples
[0];
76 public void resetGyro(){
81 public boolean collected(int[] colors
){
89 public boolean leftTouch(){
93 public boolean rightTouch(){
97 public boolean frontDistance(){
98 return frontUltra
<DANGER_DISTANCE_FRONT
;
102 public void handleMessage(String m
) {
103 String s
= m
.substring(1);
104 switch(RemoteSensors
.RemoteSensorEnum
.values()[Integer
.valueOf(Character
.toString(m
.charAt(0)))]){
106 color
= Integer
.valueOf(s
);
109 leftTouch
= Integer
.valueOf(s
)==1;
112 rightTouch
= Integer
.valueOf(s
)==1;
115 frontUltra
= Float
.valueOf(s
);