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=db10870145250774d61c89401acc35476f978677;hpb=f92a71770aa8fc8abe3a60660df2965ec18cb479;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 db10870..64a26b4 100644
--- a/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
+++ b/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
@@ -3,15 +3,17 @@ package nl.ru.des.sensors;
 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 = 0.175f;
-	private static final float DANGER_DISTANCE_BACK = 0.035f;
-	private static final float DANGER_LIGHT = 0.40f;
+	private float DANGER_DISTANCE_FRONT = 0.175f;
+	private float DANGER_DISTANCE_BACK = 0.035f;
+	private float DANGER_LIGHT = 0.40f;
 	
 	private Set<String> variables;
 	
@@ -39,6 +41,7 @@ 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();
@@ -51,6 +54,36 @@ public class SensorCollector implements MessageHandler{
 		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
 	public boolean backDistance(){
 		if(System.currentTimeMillis()-ultraTime>DELAY){