+
+ color = -1;
+ leftTouch = false;
+ rightTouch = false;
+ frontUltra = Float.MAX_VALUE;
+ variables = new HashSet<String>();
+ }
+
+
+ public void calibrate() {
+ System.out.println("Put left light on Blue");
+ Button.waitForAnyEvent();
+ leftLight();
+ DANGER_LIGHT = leftLightSamples[0];
+ System.out.println("Light limit: " + Float.toString(DANGER_LIGHT));
+
+ Delay.msDelay(350);
+ System.out.println("Put left light on Black");
+ Button.waitForAnyEvent();
+ leftLight();
+ DANGER_LIGHT = (leftLightSamples[0]+DANGER_LIGHT)/2.0f;
+ System.out.println("Light limit: " + Float.toString(DANGER_LIGHT));
+
+ Delay.msDelay(350);
+ System.out.println("Place back ultra safe");
+ Button.waitForAnyEvent();
+ backDistance();
+ DANGER_DISTANCE_BACK = ultraSamples[0] + 0.05f;
+ System.out.println("Back ultra limit: " + Float.toString(DANGER_DISTANCE_BACK));
+
+ Delay.msDelay(350);
+ System.out.println("Place front ultra in danger");
+ Button.waitForAnyEvent();
+ DANGER_DISTANCE_FRONT = frontUltra;
+ System.out.println("Calibration done");
+ System.out.println("Front ultra limit: " + Float.toString(DANGER_DISTANCE_FRONT));