robi.sim.objects
Class SimSensor

java.lang.Object
  |
  +--robi.sim.objects.SimSensor

All Implemented Interfaces:

java.lang.Runnable

public class SimSensor

extends java.lang.Object

implements java.lang.Runnable

Author:

Reto Witschi A sensor object on a robot

Field Summary

double	d Direction of sensor
double	direction Start direction of sensor
boolean	isThRunning Indicates whether the sensor thread is running or not
java.awt.Point	p Position of sensor
SimRobot	robo SimRobot object where this sensor is set on
java.awt.Point	startPos Start position of sensor
java.lang.Thread	thUpdate Update thread
int	value Sensor value of this sensor

Constructor Summary

SimSensor(int x, int y, double di, SimRobot r)

Method Summary

private double	calcSensorValue(int xLight, int yLight, int val) Calculates sensor value (for one light)
private double	getAngle(int xLight, int yLight) Calculates the angle between light and sensor
private int	getDistance(int xLight, int yLight) Calculates distance between light and sensor
private double	getPercentFromAngle(double angle) Special function to calculate percentage from an angle
private double	getPercentFromDistance(int dist) Special function to calculate percentage from a distance
int	getSensorValue() Returns sensor vlaue
private int	getSensorValue(java.util.Vector lights) Calculates sensor values (for all lights)
void	run() Main method of update thread which updates the sensor value
void	start() Starts the sensor thread
void	stop() Stops the sensor thread
void	updatePos() Updates position of sensor

Methods inherited from class java.lang.Object

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

Field Detail

isThRunning

public boolean isThRunning

Indicates whether the sensor thread is running or not

startPos

public java.awt.Point startPos

Start position of sensor

direction

public double direction

Start direction of sensor

robo

public SimRobot robo

SimRobot object where this sensor is set on

value

public int value

Sensor value of this sensor

thUpdate

public java.lang.Thread thUpdate

Update thread

p

public java.awt.Point p

Position of sensor

d

public double d

Direction of sensor

Constructor Detail

SimSensor

public SimSensor(int x,
                 int y,
                 double di,
                 SimRobot r)

Method Detail

start

public void start()

Starts the sensor thread

stop

public void stop()

Stops the sensor thread

run

public void run()

Main method of update thread which updates the sensor value

Specified by:

run in interface java.lang.Runnable

getSensorValue

public int getSensorValue()

Returns sensor vlaue

Returns:

Sensor vlaue

getSensorValue

private int getSensorValue(java.util.Vector lights)

Calculates sensor values (for all lights)

Parameters:

lights - All lights in simulation

Returns:

Sensor value (0 <= x <= 100)

updatePos

public void updatePos()

Updates position of sensor

calcSensorValue

private double calcSensorValue(int xLight,
                               int yLight,
                               int val)

Calculates sensor value (for one light)

Parameters:

xLight - x coordinate of light

yLight - y coordiante of light

val - light value

Returns:

Sensor value for one light

getAngle

private double getAngle(int xLight,
                        int yLight)

Calculates the angle between light and sensor

Parameters:

xLight - x coordinate of light

yLight - y coordinate of light

Returns:

Angle between light and sensor

getDistance

private int getDistance(int xLight,
                        int yLight)

Calculates distance between light and sensor

Parameters:

xLight - x coordinate of light

yLight - y coordinate of light

Returns:

Distance to light

getPercentFromAngle

private double getPercentFromAngle(double angle)

Special function to calculate percentage from an angle

Parameters:

angle - Calculated angle

Returns:

Percentage of light influence

getPercentFromDistance

private double getPercentFromDistance(int dist)

Special function to calculate percentage from a distance

Parameters:

dist - Calculated distance

Returns:

Percentage of light influence