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

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