X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2Fsensors%2FSensorCollector.java;h=64a26b4728a6d5e389367a03caf008d274089962;hb=HEAD;hp=29433c19563687d4a34156109f335df07ffc3f49;hpb=08b6c73b2092b16b5dc1c0f2884d2e9c49c445af;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 29433c1..64a26b4 100644
--- a/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
+++ b/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
@@ -1,17 +1,24 @@
 package nl.ru.des.sensors;
 
-import lejos.hardware.lcd.LCD;
+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 = 100;
+	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<String> variables;
 	
 	//Local sensors
+	private EV3GyroSensor gyroSensor;
 	private SampleProvider ultra, leftLight, rightLight, gyro;
 	private float[] ultraSamples, leftLightSamples, rightLightSamples, gyroSamples;
 	private long ultraTime, leftLightTime, rightLightTime, gyroTime;
@@ -24,36 +31,57 @@ public class SensorCollector implements MessageHandler{
 	public SensorCollector(SampleProvider ultra,
 			SampleProvider leftLight,
 			SampleProvider rightLight,
-			SampleProvider gyro){
+			EV3GyroSensor gyro){
 		this.ultra = ultra;
 		this.leftLight = leftLight;
 		this.rightLight = rightLight;
-		this.gyro = gyro;
+		this.gyroSensor = gyro;
+		this.gyro = gyro.getAngleMode();
 		ultraSamples = new float[ultra.sampleSize()];
 		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();
+		
+		color = -1;
+		leftTouch = false;
+		rightTouch = false;
+		frontUltra = Float.MAX_VALUE;
+		variables = new HashSet<String>();
 	}
 	
-	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();
+
+	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
@@ -89,9 +117,21 @@ public class SensorCollector implements MessageHandler{
 		return gyroSamples[0];
 	}
 	
+	public void resetGyro(){
+		gyroSensor.reset();
+	}
+	
 	//Remote sensors
-	public boolean collected(int[] colors){
-		return false;
+	public void reset(){
+		variables.clear();
+	}
+	
+	public boolean collected(String var){
+		return variables.contains(var);
+	}
+
+	public void saveVar(String var) {
+		variables.add(var);
 	}
 	
 	public int color(){