mart/ev3/ex1/nl/ru/des/AvoidHighObjectBehaviour.java

   1 package nl.ru.des;
   2
   3 import java.io.File;
   4
   5 import lejos.hardware.Button;
   6 import lejos.hardware.motor.EV3LargeRegulatedMotor;
   7 import lejos.hardware.sensor.EV3UltrasonicSensor;
   8 import lejos.robotics.SampleProvider;
   9
  10 public class AvoidHighObjectBehaviour extends AvoidBehaviour {
  11         private SampleProvider ultrasoneSample;
  12         private float[] samples;
  13         private float limit;
  14
  15         public AvoidHighObjectBehaviour(EV3LargeRegulatedMotor leftMotor, EV3LargeRegulatedMotor rightMotor,
  16                         EV3UltrasonicSensor ultraSone) {
  17                 super(leftMotor, rightMotor, new File("detect.wav"));
  18                 ultrasoneSample = ultraSone.getDistanceMode();
  19                 samples = new float[ultrasoneSample.sampleSize()];
  20                 calibrate();
  21         }
  22
  23         private void calibrate(){
  24                 LCDPrinter.print("Calibrate ultrasone...");
  25                 LCDPrinter.print("Place object in");
  26                 LCDPrinter.print(" turn radius");
  27                 Button.waitForAnyPress();
  28                 ultrasoneSample.fetchSample(samples, 0);
  29                 limit = samples[0];
  30                 LCDPrinter.print("Limit: " + limit);
  31         }
  32
  33         @Override
  34         public boolean takeControl() {
  35                 ultrasoneSample.fetchSample(samples, 0);
  36                 return samples[0] < limit;
  37         }
  38 }