dlife.robot.scribbler
Class ScribblerLightSensor

java.lang.Object
  java.util.Observable
      dlife.robot.Device
          dlife.robot.ArraySensor<Integer>
              dlife.robot.scribbler.ScribblerLightSensor

public class ScribblerLightSensor
extends ArraySensor<Integer>

Sensor for the Scribbler's light sensors.

Each light sensor has a value indicating the intensity of the light shining on the sensor. Smaller values indicate brighter more direct sources of light.

The light sensors are on the front of the scribbler in the default orientation (Scribbler.FLUKE_AT_REAR). If the robot's orientation is changed to Scribbler.FLUKE_AT_FRONT then the light sensors are at the rear of the robot. The left-to-right ordering of the light sensors is presented with respect to the robot's current orientation.

Version:

Mar 10, 2012

Author:

Grant Braught, Dickinson College

Field Summary

static int	CENTER Constant for the index of the center light sensor.
static int	LEFT Constant for the index of the left light sensor.
static int	RIGHT Constant for the index of the right light sensor.

Fields inherited from class dlife.robot.ArraySensor

length, values

Fields inherited from class dlife.robot.Device

DEFAULT_GUI_UPDATE_DELAY, DEFAULT_READ_DELAY, myRobot, readCount

Constructor Summary

ScribblerLightSensor()
Construct a new ScribblerLineSensor.

Method Summary

protected DeviceDisplay[]	createGUIObjects() Get the GUI for the ScribblerLineSensor.
void	freeze() This method does nothing.
int	getCenterSensor() Get the current value of the center light sensor.
int	getLeftSensor() Get the current value of the left light sensor.
int	getRightSensor() Get the current value of the right light sensor.
void	readStateFromRobot() Send a message to the Scribbler to read the state of the line sensor and update the values of this sensor.

Methods inherited from class dlife.robot.ArraySensor

getAverage, getAverage, getMaximum, getMaximum, getMaximumIndex, getMaximumIndex, getMinimum, getMinimum, getMinimumIndex, getMinimumIndex, getNumValues, getSubset, getValue, getValues

Methods inherited from class dlife.robot.Device

getAutoRead, getGUI, getGUIUpdateDelay, getReadDelay, getRobot, getSensorReadCount, getSensorReadRate, setAutoRead, setGUIUpdateDelay, setReadDelay, setRobot, shutDown, startAutoReadTimer, startUp, stopAutoReadTimer

Methods inherited from class java.util.Observable

addObserver, clearChanged, countObservers, deleteObserver, deleteObservers, hasChanged, notifyObservers, notifyObservers, setChanged

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

LEFT

public static final int LEFT

Constant for the index of the left light sensor.

See Also:

Constant Field Values

CENTER

public static final int CENTER

Constant for the index of the center light sensor.

See Also:

Constant Field Values

RIGHT

public static final int RIGHT

Constant for the index of the right light sensor.

See Also:

Constant Field Values

Constructor Detail

ScribblerLightSensor

public ScribblerLightSensor()

Construct a new ScribblerLineSensor.

Method Detail

freeze

public void freeze()

This method does nothing. There is nothing to freeze for the light sensor.

Specified by:

freeze in class Device

readStateFromRobot

public void readStateFromRobot()

Send a message to the Scribbler to read the state of the line sensor and update the values of this sensor.

Specified by:

readStateFromRobot in class Device

getLeftSensor

public int getLeftSensor()

Get the current value of the left light sensor.

Returns:

the value of the left light sensor.

getCenterSensor

public int getCenterSensor()

Get the current value of the center light sensor.

Returns:

the value of the center light sensor.

getRightSensor

public int getRightSensor()

Get the current value of the right light sensor.

Returns:

the value of the right light sensor.

createGUIObjects

protected DeviceDisplay[] createGUIObjects()

Get the GUI for the ScribblerLineSensor.

Specified by:

createGUIObjects in class Device

Returns:

the GUI.