X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2Fsensors%2FSensorCollector.java;h=64a26b4728a6d5e389367a03caf008d274089962;hb=3e5a839d3f540c49d5b903bfebdd8913e7deef9a;hp=59fe6cdfc79b9cafefbde09ec1ed4cae0fc94880;hpb=1b13ccb59263b66abc763fb8f298b14bdebc9582;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 59fe6cd..64a26b4 100644
--- a/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
+++ b/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
@@ -1,20 +1,21 @@
 package nl.ru.des.sensors;
 
-import java.util.Arrays;
 import java.util.HashSet;
 import java.util.Set;
 
+import lejos.hardware.Button;
 import lejos.hardware.sensor.EV3GyroSensor;
 import lejos.robotics.SampleProvider;
+import lejos.utility.Delay;
 
 public class SensorCollector implements MessageHandler{
 	public static final int DELAY = 200;
 
-	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;
+	private float DANGER_DISTANCE_FRONT = 0.175f;
+	private float DANGER_DISTANCE_BACK = 0.035f;
+	private float DANGER_LIGHT = 0.40f;
 	
-	private Set<Integer> collectedColors;
+	private Set<String> variables;
 	
 	//Local sensors
 	private EV3GyroSensor gyroSensor;
@@ -40,12 +41,47 @@ public class SensorCollector implements MessageHandler{
 		gyroSamples = new float[gyro.sampleSize()];
 		leftLightSamples = new float[leftLight.sampleSize()];
 		rightLightSamples = new float[rightLight.sampleSize()];
+
 		ultraTime = System.currentTimeMillis();
 		leftLightTime = System.currentTimeMillis();
 		rightLightTime = System.currentTimeMillis();
 		gyroTime = System.currentTimeMillis();
 		
-		collectedColors = new HashSet<Integer>();
+		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));
 	}
 	
 	//Local sensors
@@ -86,12 +122,16 @@ public class SensorCollector implements MessageHandler{
 	}
 	
 	//Remote sensors
-	public void resetColors(){
-		collectedColors.clear();
+	public void reset(){
+		variables.clear();
 	}
 	
-	public boolean collected(int[] colors){
-		return collectedColors.containsAll(Arrays.asList(colors));
+	public boolean collected(String var){
+		return variables.contains(var);
+	}
+
+	public void saveVar(String var) {
+		variables.add(var);
 	}
 	
 	public int color(){
@@ -116,7 +156,6 @@ public class SensorCollector implements MessageHandler{
 		switch(RemoteSensors.RemoteSensorEnum.values()[Integer.valueOf(Character.toString(m.charAt(0)))]){
 		case COLOR:
 			color = Integer.valueOf(s);
-			collectedColors.add(color);
 			break;
 		case LEFT:
 			leftTouch = Integer.valueOf(s)==1;