X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2Fsensors%2FRemoteSensors.java;h=642a5e61d7ac861715a2f499dc60f76d646a2bfa;hb=8880a95aedaf51c028818910b64f85472d96c14e;hp=d25adb36c68a5e0df5c25cf15d7337322a45332a;hpb=426ca40778af548128b5d5f37705fffcf1cc9c7b;p=des2015.git

diff --git a/dsl/runtime/src/nl/ru/des/sensors/RemoteSensors.java b/dsl/runtime/src/nl/ru/des/sensors/RemoteSensors.java
index d25adb3..642a5e6 100644
--- a/dsl/runtime/src/nl/ru/des/sensors/RemoteSensors.java
+++ b/dsl/runtime/src/nl/ru/des/sensors/RemoteSensors.java
@@ -3,10 +3,11 @@ package nl.ru.des.sensors;
 import java.util.Queue;
 
 import lejos.robotics.SampleProvider;
+import lejos.utility.Delay;
 import nl.ru.des.LCDPrinter;
 
 public class RemoteSensors{
-	public static final int DELAY = 250;
+	public static final int DELAY = 200;
 	private SampleProvider left, right, ultra, color;
 	private float[] leftSamples, rightSamples, ultraSamples, colorSamples;
 	private float leftLatest, rightLatest, ultraLatest, colorLatest;
@@ -28,6 +29,7 @@ public class RemoteSensors{
 	
 	public void start(Queue<String> q){
 		long last = System.currentTimeMillis();
+		Delay.msDelay(1000);
 		LCDPrinter.print("Start sending values...");
 		while(true){
 			if(System.currentTimeMillis()-last > DELAY && q.size()<5){
@@ -38,13 +40,13 @@ public class RemoteSensors{
 					q.add(Integer.toString(RemoteSensorEnum.LEFT.ordinal())+Integer.toString((int)leftLatest)+"\n");
 				}
 				right.fetchSample(rightSamples, 0);
+
 				if(rightSamples[0] != rightLatest){
 					rightLatest = rightSamples[0];
 					q.add(Integer.toString(RemoteSensorEnum.RIGHT.ordinal())+Integer.toString((int)rightLatest)+"\n");
 				}
-				
 				ultra.fetchSample(ultraSamples, 0);
-				if(ultraSamples[0] != ultraLatest){
+				if(Math.abs(ultraSamples[0] - ultraLatest) > 0.025){
 					ultraLatest = ultraSamples[0];
 					q.add(Integer.toString(RemoteSensorEnum.ULTRA.ordinal())+Float.toString(ultraLatest)+"\n");
 				}