mart/ev3/ex2/nl/ru/des/sensors/SuperSensor.java

   1 package nl.ru.des.sensors;
   2
   3 import lejos.robotics.SampleProvider;
   4
   5 public abstract class SuperSensor {
   6         public static final long SAMPLETIME = 50;
   7
   8         private long lastSampleTaken;
   9         private SampleProvider sampleProvider;
  10
  11         protected float[] samples;
  12
  13         public SuperSensor(SampleProvider sampleProvider){
  14                 this.sampleProvider = sampleProvider;
  15                 this.samples = new float[sampleProvider.sampleSize()];
  16                 this.lastSampleTaken = System.currentTimeMillis()-SAMPLETIME;
  17         }
  18
  19         public void fetchSample(){
  20                 fetchSample(false);
  21         }
  22
  23         public void fetchSample(boolean always){
  24                 if(always || System.currentTimeMillis()-lastSampleTaken > SAMPLETIME){
  25                         lastSampleTaken = System.currentTimeMillis();
  26                         sampleProvider.fetchSample(samples, 0);
  27                 }
  28         }
  29 }