/**
* Copyright (C) BFH www.bfh.ch 2011
* Code written by: Patrick Dobler, Marc Folly
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
package ch.bfh.ti.kybernetik.lego.controller;
import lejos.nxt.LightSensor;
import lejos.nxt.MotorPort;
import lejos.nxt.NXTRegulatedMotor;
import lejos.nxt.SensorPort;
/**
* The Singleton Class {@link SensorActorController} is responsible to connect
* to Lego JVM Sensors (such as {@link LightSensor}) and Actors (such as
* {@link MotorPort}) to their corresponding ports. This class encapsulates the
* Lego Sensors and Actors and decorates their functions<br/>
* <br/>
*
* <strong>Note: </strong>It is very important for the Lego JVM that their
* Actors and Sensors are initialized only once! Otherwise the Lego JVM runs
* into problems. That is why we decided us the create the
* {@link SensorActorController} and make it a Singleton<br/>
* <br/>
* <strong>Note: </strong>We had to make sure that the Class names don't exceed
* the Lego JVM limit of 20 characters
*
*/
public class SensorActorController {
private static SensorActorController sensorController;
private int lightMax = 850;
private int lightMin = 150;
private NXTRegulatedMotor motorLeft = null;
private NXTRegulatedMotor motorRight = null;
private LightSensor lightSensorLeft = null;
private LightSensor lightSensorRight = null;
public static SensorActorController getInstance() {
if (sensorController == null) {
sensorController = new SensorActorController();
}
return sensorController;
}
public static SensorActorController getSensorController() {
return sensorController;
}
private SensorActorController() {
motorLeft = new NXTRegulatedMotor(MotorPort.A);
motorRight = new NXTRegulatedMotor(MotorPort.C);
lightSensorLeft = new LightSensor(SensorPort.S1);
lightSensorRight = new LightSensor(SensorPort.S4);
lightSensorLeft.setHigh(lightMax);
lightSensorLeft.setLow(lightMin);
lightSensorRight.setHigh(lightMax);
lightSensorRight.setLow(lightMin);
lightSensorLeft.setFloodlight(false);
lightSensorRight.setFloodlight(false);
}
public int getLightSensorLeftValue() {
return this.lightSensorLeft.getNormalizedLightValue();
}
public int getLightSensorRightValue() {
return this.lightSensorRight.getNormalizedLightValue();
}
public void setMotorLeftSpeed(int newSpeed) {
this.motorLeft.forward();
this.motorLeft.setSpeed(newSpeed);
}
public void setMotorRightSpeed(int newSpeed) {
this.motorRight.forward();
this.motorRight.setSpeed(newSpeed);
}
}