X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fsrc%2Fnl%2Fru%2Fdes%2Fsensors%2FSensorCollector.java;h=db10870145250774d61c89401acc35476f978677;hb=8880a95aedaf51c028818910b64f85472d96c14e;hp=3faae0999ab379f5c5bcd308b04c48524f0553dd;hpb=426ca40778af548128b5d5f37705fffcf1cc9c7b;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 3faae09..db10870 100644
--- a/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
+++ b/dsl/runtime/src/nl/ru/des/sensors/SensorCollector.java
@@ -1,11 +1,22 @@
 package nl.ru.des.sensors;
 
+import java.util.HashSet;
+import java.util.Set;
+
+import lejos.hardware.sensor.EV3GyroSensor;
 import lejos.robotics.SampleProvider;
 
 public class SensorCollector implements MessageHandler{
-	public static final int DELAY = 300;
+	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 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;
@@ -18,11 +29,12 @@ 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()];
@@ -31,15 +43,21 @@ public class SensorCollector implements MessageHandler{
 		leftLightTime = System.currentTimeMillis();
 		rightLightTime = System.currentTimeMillis();
 		gyroTime = System.currentTimeMillis();
+		
+		color = -1;
+		leftTouch = false;
+		rightTouch = false;
+		frontUltra = Float.MAX_VALUE;
+		variables = new HashSet<String>();
 	}
 	
 	//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(){
@@ -47,7 +65,7 @@ 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(){
@@ -55,7 +73,7 @@ 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(){
@@ -66,7 +84,23 @@ public class SensorCollector implements MessageHandler{
 		return gyroSamples[0];
 	}
 	
+	public void resetGyro(){
+		gyroSensor.reset();
+	}
+	
 	//Remote sensors
+	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(){
 		return color;
 	}
@@ -79,8 +113,8 @@ public class SensorCollector implements MessageHandler{
 		return rightTouch;
 	}
 	
-	public float frontDistance(){
-		return frontUltra;
+	public boolean frontDistance(){
+		return frontUltra<DANGER_DISTANCE_FRONT;
 	}
 
 	@Override