X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2Fsensors%2FSensorCollector.java;h=29433c19563687d4a34156109f335df07ffc3f49;hb=08b6c73b2092b16b5dc1c0f2884d2e9c49c445af;hp=60652d8224daabb24aff3fb8084ffd82a618f399;hpb=7c99354e9259379ab5dab36745024dce2393252d;p=des2015.git

diff --git a/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java b/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
index 60652d8..29433c1 100644
--- a/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
+++ b/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
@@ -1,10 +1,15 @@
 package nl.ru.des.sensors;
 
+import lejos.hardware.lcd.LCD;
 import lejos.robotics.SampleProvider;
-import nl.ru.des.LCDPrinter;
+import lejos.utility.Delay;
 
 public class SensorCollector implements MessageHandler{
-	public static final int DELAY = 300;
+	public static final int DELAY = 100;
+
+	private static final float DANGER_DISTANCE_FRONT = 0.15f;
+	private static final float DANGER_DISTANCE_BACK = 0.035f;
+	private static final float DANGER_LIGHT = 0.45f;
 	
 	//Local sensors
 	private SampleProvider ultra, leftLight, rightLight, gyro;
@@ -34,13 +39,30 @@ public class SensorCollector implements MessageHandler{
 		gyroTime = System.currentTimeMillis();
 	}
 	
+	public void debug(){
+		new Thread(){
+			@Override public void run(){
+				while(true){
+					ultra.fetchSample(ultraSamples, 0);
+					leftLight.fetchSample(leftLightSamples, 0);
+					rightLight.fetchSample(rightLightSamples, 0);
+					LCD.drawString("back: " + Float.toString(ultraSamples[0]), 0, 1);
+					LCD.drawString("front: " + Float.toString(frontUltra), 0, 2);
+					LCD.drawString("left: " + Float.toString(leftLightSamples[0]), 0, 3);
+					LCD.drawString("right: " + Float.toString(rightLightSamples[0]), 0, 4);
+					Delay.msDelay(250);
+				}
+			}
+		}.run();
+	}
+	
 	//Local sensors
-	public float backDistance(){
+	public boolean backDistance(){
 		if(System.currentTimeMillis()-ultraTime>DELAY){
 			ultra.fetchSample(ultraSamples, 0);
 			ultraTime = System.currentTimeMillis();
 		}
-		return ultraSamples[0];
+		return ultraSamples[0]>DANGER_DISTANCE_BACK;
 	}
 	
 	public boolean leftLight(){
@@ -48,7 +70,7 @@ public class SensorCollector implements MessageHandler{
 			leftLight.fetchSample(leftLightSamples, 0);
 			leftLightTime = System.currentTimeMillis();
 		}
-		return leftLightSamples[0]>0.5;
+		return leftLightSamples[0]>DANGER_LIGHT;
 	}
 	
 	public boolean rightLight(){
@@ -56,7 +78,7 @@ public class SensorCollector implements MessageHandler{
 			rightLight.fetchSample(rightLightSamples, 0);
 			rightLightTime = System.currentTimeMillis();
 		}
-		return rightLightSamples[0]>0.5;
+		return rightLightSamples[0]>DANGER_LIGHT;
 	}
 	
 	public float gyro(){
@@ -68,6 +90,10 @@ public class SensorCollector implements MessageHandler{
 	}
 	
 	//Remote sensors
+	public boolean collected(int[] colors){
+		return false;
+	}
+	
 	public int color(){
 		return color;
 	}
@@ -80,13 +106,12 @@ public class SensorCollector implements MessageHandler{
 		return rightTouch;
 	}
 	
-	public float frontDistance(){
-		return frontUltra;
+	public boolean frontDistance(){
+		return frontUltra<DANGER_DISTANCE_FRONT;
 	}
 
 	@Override
 	public void handleMessage(String m) {
-		LCDPrinter.print("Sensor: " + Character.toString(m.charAt(0)) + " with value: " + m.substring(1));
 		String s = m.substring(1);
 		switch(RemoteSensors.RemoteSensorEnum.values()[Integer.valueOf(Character.toString(m.charAt(0)))]){
 		case COLOR: