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

   1 package nl.ru.des.sensors;
   2
   3 import lejos.hardware.Button;
   4 import lejos.hardware.sensor.EV3UltrasonicSensor;
   5 import nl.ru.des.LCDPrinter;
   6
   7 public class UltraSoneSensor extends SuperSensor {
   8         private float limit;
   9
  10         public UltraSoneSensor(EV3UltrasonicSensor ultraSone) {
  11                 super(ultraSone.getDistanceMode());
  12                 calibrate();
  13         }
  14
  15         private void calibrate(){
  16                 LCDPrinter.print("Calibrate ultrasone, place object in the turn radius...");
  17                 Button.waitForAnyPress();
  18                 fetchSample(true);
  19                 limit = samples[0];
  20                 LCDPrinter.print("Limit: " + limit);
  21         }
  22
  23         public boolean getCurrentStatus(){
  24                 fetchSample();
  25                 return samples[0]<limit;
  26         }
  27 }