1 package nl
.ru
.des
.behaviours
;
3 import lejos
.robotics
.SampleProvider
;
4 import lejos
.robotics
.subsumption
.Behavior
;
6 public abstract class ReactiveBehaviour
implements Behavior
{
7 private SampleProvider sampleProvider
;
8 private long lastSampleTaken
;
9 protected float[] samples
;
10 protected boolean suppressed
;
12 public ReactiveBehaviour(SampleProvider sampleProvider
) {
13 this.sampleProvider
= sampleProvider
;
14 this.samples
= new float[sampleProvider
.sampleSize()];
15 this.lastSampleTaken
= System
.currentTimeMillis();
18 public void fetchSample(){
19 if(System
.currentTimeMillis()-lastSampleTaken
> 100){
20 sampleProvider
.fetchSample(samples
, 0);
25 public void action() {
30 public void suppress() {