ch.aplu.robotsim

Class LightSensor

java.lang.Object

Actor

ch.aplu.robotsim.Part

ch.aplu.robotsim.LightSensor

public class LightSensor
extends Part

Class that represents a light sensor.

Constructor Summary

Constructors

Constructor and Description
LightSensor(SensorPort port) Creates a sensor instance pointing downwards connected to the given port.
LightSensor(SensorPort port, boolean upwards) Creates a sensor instance connected to the given port.

Method Summary

Modifier and Type	Method and Description
void	activate(boolean enable) Turns on/off the LED used for reflecting light back into the sensor.
void	addLightListener(LightListener lightListener) Registers the given LightListener with default trigger triggerLevel 500.
void	addLightListener(LightListener listener, int triggerLevel) Registers the given LightListener to detect crossing the given trigger triggerLevel.
SensorPort	getPort() Returns the port of the sensor.
int	getValue() For sensor ports 1, 2, 3, 4: returns the brightness of the background at the current location.
int	setTriggerLevel(int triggerLevel) Sets a new triggerLevel and returns the previous one.

Methods inherited from class java.lang.Object

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

Constructor Detail

LightSensor

public LightSensor(SensorPort port)

Creates a sensor instance pointing downwards connected to the given port. In simulation mode, the sensor detects the brightness of the background pixel. The port selection determines the position of the sensor: S1: right; S2: left, S3: middle, S4: rear-middle.

Parameters:

port - the port where the sensor is plugged-in

LightSensor

public LightSensor(SensorPort port,
                   boolean upwards)

Creates a sensor instance connected to the given port. The port selection determines the position of the sensor:
Downward direction: S1: right; S2: left, S3: middle, S4: rear-middle
Upward direction: S1: front right; S2: front left, S3: rear right, S4: rear left
A sensor directed downwards detects the intensity of the background, while a sensor directed upwards detects the summed intensity of all torches.

Parameters:

port - the port where the sensor is plugged-in

upwards - if true, the sensor is pointing upwards; otherwise pointing downwards

Method Detail

addLightListener

public void addLightListener(LightListener listener,
                             int triggerLevel)

Registers the given LightListener to detect crossing the given trigger triggerLevel.

Parameters:

listener - the LightListener to register

triggerLevel - the light value used as trigger level

addLightListener

public void addLightListener(LightListener lightListener)

Registers the given LightListener with default trigger triggerLevel 500.

Parameters:

lightListener - the LightListener to register

setTriggerLevel

public int setTriggerLevel(int triggerLevel)

Sets a new triggerLevel and returns the previous one.

Parameters:

triggerLevel - the new trigger triggerLevel

Returns:

the previous trigger triggerLevel

getValue

public int getValue()

For sensor ports 1, 2, 3, 4: returns the brightness of the background at the current location.
For sensor ports -1, -2, -3, -4: returns the sum of the intensity of all torches at the current location; 0, if the sensor is inside a shadow region. Calls Thread.sleep(1) to prevent CPU overload in close polling loops.

Returns:

the brightness at the current location

activate

public void activate(boolean enable)

Turns on/off the LED used for reflecting light back into the sensor. Empty method in simulation mode.

Parameters:

enable - if true, turn the LED on, otherwise turn it off

getPort

public SensorPort getPort()

Returns the port of the sensor.

Returns:

the sensor port