1 package nl
.ru
.des
.sensors
;
3 import java
.util
.HashSet
;
6 import lejos
.hardware
.Button
;
7 import lejos
.hardware
.sensor
.EV3GyroSensor
;
8 import lejos
.robotics
.SampleProvider
;
9 import lejos
.utility
.Delay
;
11 public class SensorCollector
implements MessageHandler
{
12 public static final int DELAY
= 200;
14 private float DANGER_DISTANCE_FRONT
= 0.175f
;
15 private float DANGER_DISTANCE_BACK
= 0.035f
;
16 private float DANGER_LIGHT
= 0.40f
;
18 private Set
<String
> variables
;
21 private EV3GyroSensor gyroSensor
;
22 private SampleProvider ultra
, leftLight
, rightLight
, gyro
;
23 private float[] ultraSamples
, leftLightSamples
, rightLightSamples
, gyroSamples
;
24 private long ultraTime
, leftLightTime
, rightLightTime
, gyroTime
;
28 private boolean leftTouch
, rightTouch
;
29 private float frontUltra
;
31 public SensorCollector(SampleProvider ultra
,
32 SampleProvider leftLight
,
33 SampleProvider rightLight
,
36 this.leftLight
= leftLight
;
37 this.rightLight
= rightLight
;
38 this.gyroSensor
= gyro
;
39 this.gyro
= gyro
.getAngleMode();
40 ultraSamples
= new float[ultra
.sampleSize()];
41 gyroSamples
= new float[gyro
.sampleSize()];
42 leftLightSamples
= new float[leftLight
.sampleSize()];
43 rightLightSamples
= new float[rightLight
.sampleSize()];
45 ultraTime
= System
.currentTimeMillis();
46 leftLightTime
= System
.currentTimeMillis();
47 rightLightTime
= System
.currentTimeMillis();
48 gyroTime
= System
.currentTimeMillis();
53 frontUltra
= Float
.MAX_VALUE
;
54 variables
= new HashSet
<String
>();
58 public void calibrate() {
59 System
.out
.println("Put left light on Blue");
60 Button
.waitForAnyEvent();
62 DANGER_LIGHT
= leftLightSamples
[0];
63 System
.out
.println("Light limit: " + Float
.toString(DANGER_LIGHT
));
66 System
.out
.println("Put left light on Black");
67 Button
.waitForAnyEvent();
69 DANGER_LIGHT
= (leftLightSamples
[0]+DANGER_LIGHT
)/2.0f
;
70 System
.out
.println("Light limit: " + Float
.toString(DANGER_LIGHT
));
73 System
.out
.println("Place back ultra safe");
74 Button
.waitForAnyEvent();
76 DANGER_DISTANCE_BACK
= ultraSamples
[0] + 0.05f
;
77 System
.out
.println("Back ultra limit: " + Float
.toString(DANGER_DISTANCE_BACK
));
80 System
.out
.println("Place front ultra in danger");
81 Button
.waitForAnyEvent();
82 DANGER_DISTANCE_FRONT
= frontUltra
;
83 System
.out
.println("Calibration done");
84 System
.out
.println("Front ultra limit: " + Float
.toString(DANGER_DISTANCE_FRONT
));
88 public boolean backDistance(){
89 if(System
.currentTimeMillis()-ultraTime
>DELAY
){
90 ultra
.fetchSample(ultraSamples
, 0);
91 ultraTime
= System
.currentTimeMillis();
93 return ultraSamples
[0]>DANGER_DISTANCE_BACK
;
96 public boolean leftLight(){
97 if(System
.currentTimeMillis()-leftLightTime
>DELAY
){
98 leftLight
.fetchSample(leftLightSamples
, 0);
99 leftLightTime
= System
.currentTimeMillis();
101 return leftLightSamples
[0]>DANGER_LIGHT
;
104 public boolean rightLight(){
105 if(System
.currentTimeMillis()-rightLightTime
>DELAY
){
106 rightLight
.fetchSample(rightLightSamples
, 0);
107 rightLightTime
= System
.currentTimeMillis();
109 return rightLightSamples
[0]>DANGER_LIGHT
;
113 if(System
.currentTimeMillis()-gyroTime
>DELAY
){
114 gyro
.fetchSample(gyroSamples
, 0);
115 gyroTime
= System
.currentTimeMillis();
117 return gyroSamples
[0];
120 public void resetGyro(){
129 public boolean collected(String var
){
130 return variables
.contains(var
);
133 public void saveVar(String var
) {
141 public boolean leftTouch(){
145 public boolean rightTouch(){
149 public boolean frontDistance(){
150 return frontUltra
<DANGER_DISTANCE_FRONT
;
154 public void handleMessage(String m
) {
155 String s
= m
.substring(1);
156 switch(RemoteSensors
.RemoteSensorEnum
.values()[Integer
.valueOf(Character
.toString(m
.charAt(0)))]){
158 color
= Integer
.valueOf(s
);
161 leftTouch
= Integer
.valueOf(s
)==1;
164 rightTouch
= Integer
.valueOf(s
)==1;
167 frontUltra
= Float
.valueOf(s
);